Upload Obstacle_avoidance (part 32)

.gitattributes

@@ -5903,3 +5903,203 @@ Obstacle_avoidance/cylinder_15A_10/position_05/depth_02/fem_node.csv filter=lfs
 Obstacle_avoidance/cylinder_15A_10/position_05/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Obstacle_avoidance/cylinder_15A_10/position_05/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Obstacle_avoidance/cylinder_15A_10/position_05/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_06/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_06/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_06/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_06/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_06/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_07/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_07/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_07/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_07/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_07/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_08/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_08/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_08/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_08/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_08/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_09/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_09/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_09/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_09/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_09/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_10/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_10/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_10/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_10/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_10/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_11/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_11/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_11/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_11/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_11/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_12/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_12/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_12/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_12/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_10/position_12/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_01/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_02/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_03/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_04/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_05/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_06/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_07/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_08/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_09/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_10/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_11/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_12.5/position_12/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_01/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_01/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_01/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_01/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_01/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_02/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_02/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_02/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_02/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_02/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_03/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_03/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_03/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_03/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_03/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_04/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_04/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_04/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_04/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_04/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_05/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_05/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_05/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_05/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_05/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_06/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_06/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_06/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_06/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_06/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_07/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_07/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_07/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_07/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_07/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_08/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_08/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_08/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_08/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_08/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_09/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_09/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_09/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_09/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_09/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_10/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_10/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_10/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_10/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_10/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_11/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_11/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_11/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_11/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_11/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_12/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_12/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_12/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_12/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_15/position_12/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_01/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_02/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_03/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_04/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_05/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_06/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_07/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_08/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Obstacle_avoidance/cylinder_15A_17.5/position_09/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text

Obstacle_avoidance/cylinder_15A_10/position_06/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54c502e8a1a4c17fb732fb496e5988fdd5bc2d06aa6750938e9872d56a09d1a6
+size 25801696

Obstacle_avoidance/cylinder_15A_10/position_06/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,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+1,0.016666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+2,0.033333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+3,0.050000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+4,0.066666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+5,0.083333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+6,0.100000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+7,0.116666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+8,0.133333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+9,0.150000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+10,0.166666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+11,0.183333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+12,0.200000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+13,0.216666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+14,0.233333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+15,0.250000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+16,0.266666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+17,0.283333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+18,0.300000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+19,0.316666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+20,0.333333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+21,0.350000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+22,0.366666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+23,0.383333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+24,0.400000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+25,0.416666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+26,0.433333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+27,0.450000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+28,0.466666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+29,0.483333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+30,0.500000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+31,0.516666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+32,0.533333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+33,0.550000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+34,0.566666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+35,0.583333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+36,0.600000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+37,0.616666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+38,0.633333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+39,0.650000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+40,0.666666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+41,0.683333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+42,0.700000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+43,0.716666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+44,0.733333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+45,0.750000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+46,0.766666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+47,0.783333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+48,0.800000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+49,0.816666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+50,0.833333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+51,0.850000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+52,0.866666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+53,0.883333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+54,0.900000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+55,0.916666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+56,0.933333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+57,0.950000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+58,0.966666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+59,0.983333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+60,1.000000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+61,1.016666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+62,1.033333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+63,1.050000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+64,1.066666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+65,1.083333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+66,1.100000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+67,1.116666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+68,1.133333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+69,1.150000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+70,1.166666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+71,1.183333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+72,1.200000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+73,1.216666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+74,1.233333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+75,1.250000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+76,1.266666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+77,1.283333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+78,1.300000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+79,1.316666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+80,1.333333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+81,1.350000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+82,1.366666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+83,1.383333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+84,1.400000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+85,1.416666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+86,1.433333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+87,1.450000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+88,1.466666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+89,1.483333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+90,1.500000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+91,1.516666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+92,1.533333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+93,1.550000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+94,1.566666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+95,1.583333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+96,1.600000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+97,1.616666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+98,1.633333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+99,1.650000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+100,1.666666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+101,1.683333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+102,1.700000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+103,1.716666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+104,1.733333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+105,1.750000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+106,1.766666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+107,1.783333333,pose1_to_pose2_press,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+108,1.800000000,pose1_to_pose2_press,0.575666889317,-0.00981821682036,1.04002055892,0.546238036894,-0.00114397973805,1.03969226032
+109,1.816666667,pose1_to_pose2_press,0.575666965618,-0.00981821258484,1.0400205585,0.54623811282,-0.00114397676514,1.03969226016
+110,1.833333333,pose1_to_pose2_press,0.575667249784,-0.00981815773378,1.04002055184,0.546238396031,-0.00114392508056,1.03969225557
+111,1.850000000,pose1_to_pose2_press,0.575667961899,-0.00981814178155,1.04002059751,0.546239108064,-0.00114390943832,1.03969230038
+112,1.866666667,pose1_to_pose2_press,0.575669448783,-0.00981821389964,1.04002061739,0.546240596219,-0.00114397733721,1.03969231773
+113,1.883333333,pose1_to_pose2_press,0.575673329434,-0.00981823269508,1.04002036219,0.54624447774,-0.001143992852,1.03969207117
+114,1.900000000,pose1_to_pose2_press,0.575680290585,-0.00981823147857,1.04002060492,0.546251438038,-0.00114399473204,1.03969230856
+115,1.916666667,pose1_to_pose2_press,0.575691103032,-0.00981825097925,1.04002056822,0.546262250474,-0.00114401425808,1.0396922721
+116,1.933333333,pose1_to_pose2_press,0.575707086659,-0.00981822857557,1.04002045259,0.546278233952,-0.00114399249529,1.0396921528
+117,1.950000000,pose1_to_pose2_press,0.575728880287,-0.00981817518577,1.04002050819,0.546300027459,-0.00114393943802,1.03969221045
+118,1.966666667,pose1_to_pose2_press,0.575756805814,-0.00981824982365,1.04002047519,0.546327954628,-0.00114400835332,1.03969218138
+119,1.983333333,pose1_to_pose2_press,0.57579039422,-0.00981833226817,1.04002060564,0.546361544363,-0.00114408638056,1.03969230932
+120,2.000000000,pose1_to_pose2_press,0.575829102524,-0.00981826845539,1.04002075922,0.546400251153,-0.00114402776341,1.03969246138
+121,2.016666667,pose1_to_pose2_press,0.575873632813,-0.00981822440782,1.0400206509,0.546444779825,-0.00114398919105,1.03969235325
+122,2.033333333,pose1_to_pose2_press,0.57592516499,-0.00981821231318,1.04002054588,0.546496313129,-0.00114397320051,1.03969225004
+123,2.050000000,pose1_to_pose2_press,0.575985196656,-0.00981823011748,1.04002053076,0.546556344526,-0.0011439917641,1.03969223889
+124,2.066666667,pose1_to_pose2_press,0.576054615712,-0.0098182209655,1.0400204524,0.546625763387,-0.00114398329548,1.03969215996
+125,2.083333333,pose1_to_pose2_press,0.576136338732,-0.00981824556302,1.04002061333,0.546707486451,-0.0011440079076,1.03969231646
+126,2.100000000,pose1_to_pose2_press,0.576229228688,-0.00981830646636,1.0400207113,0.546800376676,-0.0011440679305,1.03969241359
+127,2.116666667,pose1_to_pose2_press,0.57633355653,-0.00981836345358,1.04002055116,0.546904704602,-0.00114412454831,1.03969225581
+128,2.133333333,pose1_to_pose2_press,0.576449821741,-0.00981835808659,1.04002058219,0.547020969114,-0.00114412191626,1.03969227721
+129,2.150000000,pose1_to_pose2_press,0.576579343906,-0.00981818272055,1.04002046695,0.547150491712,-0.00114394489834,1.03969216675
+130,2.166666667,pose1_to_pose2_press,0.576726260855,-0.00981823109968,1.04002052367,0.547297408596,-0.00114399329411,1.03969222866
+131,2.183333333,pose1_to_pose2_press,0.576891235095,-0.00981816750175,1.0400203909,0.547462381954,-0.00114393265659,1.03969209679
+132,2.200000000,pose1_to_pose2_press,0.577076389879,-0.00981822300674,1.04002039248,0.547647537631,-0.00114398534401,1.03969209265
+133,2.216666667,pose1_to_pose2_press,0.577280951657,-0.00981828649706,1.04002050796,0.547852100027,-0.00114404681052,1.03969220617
+134,2.233333333,pose1_to_pose2_press,0.577506315544,-0.00981825951684,1.04002046562,0.548077463242,-0.00114402192469,1.03969216867
+135,2.250000000,pose1_to_pose2_press,0.577748355906,-0.00981827923333,1.04002034543,0.548319504078,-0.00114403994553,1.03969205078
+136,2.266666667,pose1_to_pose2_press,0.578006993117,-0.00981831615545,1.04002044219,0.548578142537,-0.00114407270452,1.03969214554
+137,2.283333333,pose1_to_pose2_press,0.578283970117,-0.00981830906737,1.04002045107,0.548855119445,-0.00114406609582,1.03969214995
+138,2.300000000,pose1_to_pose2_press,0.578576121665,-0.00981823616898,1.04002048114,0.549147268484,-0.00114400195384,1.03969217352
+139,2.316666667,pose1_to_pose2_press,0.578878732691,-0.00981827046726,1.04002042933,0.549449881087,-0.00114403040644,1.03969213475
+140,2.333333333,pose1_to_pose2_press,0.579194621759,-0.00981828573811,1.04002053427,0.549765769177,-0.00114404925459,1.03969223287
+141,2.350000000,pose1_to_pose2_press,0.579527052384,-0.00981829200487,1.04002058087,0.550098200228,-0.00114405408898,1.03969227908
+142,2.366666667,pose1_to_pose2_press,0.579879269196,-0.00981826276645,1.04002060755,0.550450418312,-0.0011440203496,1.03969231061
+143,2.383333333,pose1_to_pose2_press,0.580254682719,-0.00981821901817,1.04002055273,0.550825831955,-0.00114397602221,1.03969226022
+144,2.400000000,pose1_to_pose2_press,0.580665030532,-0.00981825809178,1.04002016698,0.551236178729,-0.00114401824287,1.03969188452
+145,2.416666667,pose1_to_pose2_press,0.581104051802,-0.00981823004693,1.04002042219,0.551675199781,-0.00114399133503,1.0396921292
+146,2.433333333,pose1_to_pose2_press,0.581566105229,-0.00981826765248,1.04002043,0.552137254883,-0.00114402330004,1.03969213586
+147,2.450000000,pose1_to_pose2_press,0.582040394719,-0.00981839869113,1.04002038991,0.552611545747,-0.00114414936028,1.03969210409
+148,2.466666667,pose1_to_pose2_press,0.582523346651,-0.00981829038021,1.0400205815,0.553094495442,-0.00114404873482,1.03969229311
+149,2.483333333,pose1_to_pose2_press,0.583012983151,-0.00981822827927,1.04002066126,0.553584131409,-0.00114398858818,1.03969236894
+150,2.500000000,pose1_to_pose2_press,0.583513895594,-0.00981826004328,1.04002054026,0.554085044123,-0.00114401936533,1.03969224974
+151,2.516666667,pose1_to_pose2_press,0.584042392576,-0.00981829533331,1.0400204019,0.554613540953,-0.00114405511557,1.0396921128
+152,2.533333333,pose1_to_pose2_press,0.584596186205,-0.00981824323358,1.04002048638,0.555167333603,-0.0011440066008,1.03969219031
+153,2.550000000,pose1_to_pose2_press,0.585172353938,-0.00981817534646,1.04002065757,0.555743499534,-0.0011439449691,1.03969235781
+154,2.566666667,pose1_to_pose2_press,0.585762897153,-0.00981822456998,1.04002041634,0.556334044882,-0.00114398668415,1.03969212376
+155,2.583333333,pose1_to_pose2_press,0.586364160868,-0.00981826473077,1.04002053285,0.556935309465,-0.00114402388958,1.03969224056
+156,2.600000000,pose1_to_pose2_press,0.586974884122,-0.00981820347525,1.04002053068,0.557546032265,-0.00114396412592,1.03969223966
+157,2.616666667,pose1_to_pose2_press,0.587599068204,-0.009818237994,1.04002043835,0.558170217303,-0.00114399532306,1.03969214936
+158,2.633333333,pose1_to_pose2_press,0.588241021567,-0.00981831733545,1.04002046241,0.558812171394,-0.00114407219375,1.03969217351
+159,2.650000000,pose1_to_pose2_press,0.588897745658,-0.00981824849371,1.040020528,0.559468893898,-0.00114400879418,1.03969223755
+160,2.666666667,pose1_to_pose2_press,0.589567220532,-0.00981813838991,1.04002053641,0.56013836771,-0.00114390238958,1.03969224346
+161,2.683333333,pose1_to_pose2_press,0.590247932776,-0.00981824864111,1.04002055563,0.560819082595,-0.00114400382009,1.03969225896
+162,2.700000000,pose1_to_pose2_press,0.590940877607,-0.00981827397725,1.04002056383,0.561512026564,-0.00114403211347,1.03969226628
+163,2.716666667,pose1_to_pose2_press,0.591641174052,-0.00981827146653,1.04002050238,0.562212322357,-0.0011440313205,1.03969221797
+164,2.733333333,pose1_to_pose2_press,0.592350459454,-0.00981821182106,1.0400205375,0.562921606498,-0.0011439762351,1.03969224563
+165,2.750000000,pose1_to_pose2_press,0.593070362909,-0.00981822298413,1.04002063597,0.563641510898,-0.00114398424022,1.0396923429
+166,2.766666667,pose1_to_pose2_press,0.593791302345,-0.00981818220612,1.04002059865,0.564362450676,-0.00114394250705,1.03969230019
+167,2.783333333,pose1_to_pose2_press,0.594513479879,-0.00981822719763,1.04002047762,0.565084627779,-0.0011439888376,1.03969218248
+168,2.800000000,pose1_to_pose2_press,0.595225317448,-0.00981819204292,1.04002047198,0.56579646387,-0.00114395859136,1.03969217966
+169,2.816666667,pose1_to_pose2_press,0.595932026448,-0.00981814663347,1.04002041975,0.566503172333,-0.0011439149768,1.03969212824
+170,2.833333333,pose1_to_pose2_press,0.59664977605,-0.0098182671733,1.04002018903,0.567220923758,-0.00114402927952,1.03969189888
+171,2.850000000,pose1_to_pose2_press,0.597369165172,-0.00981826624524,1.04002036994,0.567940312894,-0.00114402892113,1.03969206362
+172,2.866666667,pose1_to_pose2_press,0.598083511605,-0.00981825601784,1.04002044237,0.56865465956,-0.00114401767097,1.03969214221
+173,2.883333333,pose1_to_pose2_press,0.598807113287,-0.00981817896715,1.04002052431,0.569378260872,-0.00114394164952,1.03969223009
+174,2.900000000,pose1_to_pose2_press,0.599534497644,-0.0098182900543,1.04002038371,0.570105645911,-0.00114405059884,1.03969208488
+175,2.916666667,pose1_to_pose2_press,0.60025065576,-0.00981824819697,1.04002048362,0.570821803845,-0.00114400940016,1.03969218379
+176,2.933333333,pose1_to_pose2_press,0.600958786917,-0.00981819655812,1.040020487,0.571529934634,-0.00114395878672,1.0396921932
+177,2.950000000,pose1_to_pose2_press,0.601660154531,-0.00981815673135,1.04002049698,0.572231301825,-0.00114392014027,1.03969220994
+178,2.966666667,pose1_to_pose2_press,0.60235588208,-0.00981816629289,1.04002060118,0.572927029426,-0.001143929519,1.03969231441
+179,2.983333333,pose1_to_pose2_press,0.603045710296,-0.00981830867758,1.04002051404,0.573616858849,-0.00114406799938,1.03969222216
+180,3.000000000,pose1_to_pose2_press,0.603729147795,-0.00981825350136,1.04002041575,0.574300296209,-0.00114401327296,1.03969212457
+181,3.016666667,pose1_to_pose2_press,0.604405964588,-0.00981823630703,1.04002053419,0.574977112821,-0.00114399675454,1.03969224146
+182,3.033333333,pose1_to_pose2_press,0.605067221271,-0.00981819040003,1.04002079142,0.575638368689,-0.00114395394724,1.03969248995
+183,3.050000000,pose1_to_pose2_press,0.605716574471,-0.00981822616543,1.04002080018,0.576287722694,-0.00114398682711,1.03969250277
+184,3.066666667,pose1_to_pose2_press,0.606357462894,-0.0098182113683,1.04002064253,0.576928610296,-0.00114397486755,1.03969234382
+185,3.083333333,pose1_to_pose2_press,0.606984610563,-0.00981827920495,1.04002055382,0.577555759077,-0.00114403882299,1.03969225807
+186,3.100000000,pose1_to_pose2_press,0.607598672767,-0.00981834585612,1.04002043773,0.578169821761,-0.00114410387119,1.03969214131
+187,3.116666667,pose1_to_pose2_press,0.6081895329,-0.00981829094974,1.0400204776,0.578760680995,-0.00114405218919,1.03969217665
+188,3.133333333,pose1_to_pose2_press,0.608755066974,-0.00981817861212,1.04002065688,0.579326214547,-0.00114394156303,1.03969235768
+189,3.150000000,pose1_to_pose2_press,0.609293862178,-0.00981816127391,1.04002054057,0.579865009248,-0.00114392563828,1.03969224907
+190,3.166666667,pose1_to_pose2_press,0.609812490477,-0.00981823530681,1.04002053812,0.580383636984,-0.00114400162328,1.03969224562
+191,3.183333333,pose1_to_pose2_press,0.610313822118,-0.00981826874801,1.04002052006,0.580884971077,-0.00114402654857,1.03969223277
+192,3.200000000,pose1_to_pose2_press,0.610805910405,-0.00981819016191,1.04002053023,0.581377058315,-0.00114395163371,1.03969224014
+193,3.216666667,pose1_to_pose2_press,0.611284122386,-0.00981811679817,1.04002054619,0.581855267861,-0.00114388671761,1.03969225117
+194,3.233333333,pose1_to_pose2_press,0.611737916096,-0.00981818397278,1.04002048125,0.582309062558,-0.0011439504596,1.03969218848
+195,3.250000000,pose1_to_pose2_press,0.612167072469,-0.00981823083355,1.04002048029,0.582738221324,-0.00114398895898,1.03969219292
+196,3.266666667,pose1_to_pose2_press,0.612572280404,-0.00981811646384,1.0400206382,0.583143428684,-0.00114387642711,1.03969235078
+197,3.283333333,pose1_to_pose2_press,0.612966091536,-0.00981810617539,1.04002065711,0.583537237141,-0.0011438752724,1.03969236463
+198,3.300000000,pose1_to_pose2_press,0.613351386567,-0.00981827295453,1.04002080829,0.583922535348,-0.00114403132357,1.03969250595
+199,3.316666667,pose1_to_pose2_press,0.613726109687,-0.00981817386676,1.04002029656,0.584297255437,-0.00114394177655,1.03969200472
+200,3.333333333,pose1_to_pose2_press,0.614085900925,-0.00981819662753,1.04002034341,0.584657048798,-0.00114395695584,1.03969205187
+201,3.350000000,pose1_to_pose2_press,0.614420448844,-0.00981822072261,1.04002051199,0.58499159603,-0.00114398328604,1.03969221442
+202,3.366666667,pose1_to_pose2_press,0.614727486052,-0.00981822292127,1.04002063946,0.585298632426,-0.00114398816414,1.03969233728
+203,3.383333333,pose1_to_pose2_press,0.615003973036,-0.00981823004009,1.0400205392,0.585575119645,-0.00114399435863,1.0396922347
+204,3.400000000,pose1_to_pose2_press,0.615260509026,-0.00981822887738,1.04002027954,0.585831655708,-0.0011439926071,1.0396919777
+205,3.416666667,pose1_to_pose2_press,0.615500195156,-0.00981815828064,1.04002050068,0.586071342395,-0.00114391911576,1.03969221761
+206,3.433333333,pose1_to_pose2_press,0.615727993499,-0.00981831610817,1.04002041064,0.586299142254,-0.00114407171915,1.03969212381
+207,3.450000000,pose1_to_pose2_press,0.61594587433,-0.00981818616064,1.04002028887,0.586517020953,-0.00114394869628,1.03969200486
+208,3.466666667,pose1_to_pose2_press,0.616152916485,-0.00981808215225,1.04002040485,0.586724062638,-0.00114384601294,1.03969212193
+209,3.483333333,pose1_to_pose2_press,0.616344657829,-0.00981819343854,1.04002049938,0.586915804985,-0.00114395368394,1.03969221442
+210,3.500000000,pose1_to_pose2_press,0.616518463913,-0.00981822281728,1.04002053037,0.58708961044,-0.00114398525763,1.03969223948
+211,3.516666667,pose1_to_pose2_press,0.616673019029,-0.0098182355716,1.0400204379,0.587244165551,-0.00114399795049,1.03969214699
+212,3.533333333,pose1_to_pose2_press,0.616809346648,-0.00981837626807,1.04002033388,0.587380495162,-0.00114413162437,1.03969204627
+213,3.550000000,pose1_to_pose2_press,0.616928834435,-0.00981832358801,1.04002058578,0.587499982249,-0.00114408165215,1.03969228624
+214,3.566666667,pose1_to_pose2_press,0.617034661376,-0.00981821006449,1.04002068061,0.587605807517,-0.00114397362076,1.03969238268
+215,3.583333333,pose1_to_pose2_press,0.617128526862,-0.00981819428889,1.04002038551,0.587699672592,-0.00114395917405,1.03969208683
+216,3.600000000,pose1_to_pose2_press,0.617212591703,-0.00981823088692,1.04002046646,0.58778373737,-0.00114399567393,1.03969217413
+217,3.616666667,pose1_to_pose2_press,0.61728749281,-0.00981823365231,1.04002045065,0.587858639677,-0.00114399427344,1.03969215949
+218,3.633333333,pose1_to_pose2_press,0.617352300261,-0.00981819540929,1.04002048248,0.587923446474,-0.00114395825474,1.03969218914
+219,3.650000000,pose1_to_pose2_press,0.617407288298,-0.00981814550919,1.0400205423,0.58797843303,-0.00114391332915,1.03969224874
+220,3.666666667,pose1_to_pose2_press,0.617451710485,-0.00981820239595,1.04002050376,0.588022856165,-0.00114396707032,1.03969220967
+221,3.683333333,pose1_to_pose2_press,0.617487348532,-0.00981836788441,1.04002043562,0.588058496779,-0.00114412397897,1.03969213978
+222,3.700000000,pose1_to_pose2_press,0.61751464887,-0.00981836161432,1.0400204053,0.588085797429,-0.00114411624342,1.03969211583
+223,3.716666667,pose1_to_pose2_press,0.617536446188,-0.00981838621361,1.04002052607,0.588107595569,-0.00114413828563,1.03969223149
+224,3.733333333,pose1_to_pose2_press,0.617553185704,-0.0098182960661,1.04002040785,0.588124333329,-0.00114405410152,1.03969211342
+225,3.750000000,pose1_to_pose2_press,0.617566421513,-0.00981828266355,1.0400204342,0.588137568582,-0.00114404252466,1.03969213909
+226,3.766666667,pose1_to_pose2_press,0.61757647438,-0.00981837533716,1.04002068142,0.588147622843,-0.00114413045728,1.03969238219
+227,3.783333333,pose1_to_pose2_press,0.617583465283,-0.00981830540389,1.04002071729,0.588154612572,-0.00114406479002,1.03969241052
+228,3.800000000,pose1_to_pose2_press,0.617588240999,-0.00981825022746,1.04002068811,0.588159388142,-0.00114400987682,1.03969238837
+229,3.816666667,pose1_to_pose2_press,0.617591195278,-0.00981821296646,1.04002064737,0.588162342607,-0.00114397165824,1.03969235712
+230,3.833333333,pose1_to_pose2_press,0.617593172975,-0.00981821771699,1.04002053393,0.588164319726,-0.00114397833001,1.039692244
+231,3.850000000,pose1_to_pose2_press,0.61759440653,-0.00981822307098,1.04002045624,0.588165552864,-0.00114398508866,1.03969216602
+232,3.866666667,pose1_to_pose2_press,0.617595015645,-0.00981822571472,1.04002041788,0.588166161773,-0.001143988426,1.03969212752
+233,3.883333333,pose1_to_pose2_press,0.617595265141,-0.00981822967126,1.04002043168,0.588166411268,-0.00114399240688,1.0396921407
+234,3.900000000,pose1_to_pose2_press,0.617595307817,-0.00981823069403,1.04002043759,0.588166453954,-0.00114399340254,1.03969214644
+235,3.916666667,pose1_to_pose2_press,0.617595450571,-0.00981823411529,1.04002045738,0.588166596742,-0.0011439967331,1.03969216564
+236,3.933333333,pose1_to_pose2_press,0.617595666858,-0.00981823929885,1.04002048736,0.58816681308,-0.00114400177924,1.03969219472
+237,3.950000000,pose1_to_pose2_press,0.617595893785,-0.00981824473741,1.04002051882,0.588167040061,-0.00114400707363,1.03969222524
+238,3.966666667,pose1_to_pose2_press,0.61759646861,-0.00981825851375,1.0400205985,0.588167615022,-0.00114402048476,1.03969230255
+239,3.983333333,pose1_to_pose2_press,0.617597134009,-0.00981823832249,1.04002067467,0.588168280218,-0.00114400105994,1.03969237686
+240,4.000000000,pose1_to_pose2_press,0.617597492402,-0.00981812703649,1.04002067107,0.5881686375,-0.00114389349099,1.03969237471
+241,4.016666667,pose1_to_pose2_press,0.617597514355,-0.00981812021975,1.04002067085,0.588168659385,-0.00114388690193,1.03969237458
+242,4.033333333,pose1_to_pose2_press,0.617597661313,-0.00981807458709,1.04002066937,0.588168805889,-0.00114384279344,1.0396923737
+243,4.050000000,pose1_to_pose2_press,0.617597931643,-0.00981813479852,1.04002072503,0.588169077527,-0.00114389848794,1.03969243137
+244,4.066666667,pose1_to_pose2_press,0.617597978626,-0.00981808895897,1.04002064822,0.588169125434,-0.00114384946157,1.03969235587
+245,4.083333333,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946156,1.03969235587
+246,4.100000000,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946156,1.03969235587
+247,4.116666667,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946157,1.03969235587
+248,4.133333333,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946155,1.03969235587
+249,4.150000000,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946155,1.03969235587
+250,4.166666667,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946155,1.03969235587
+251,4.183333333,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946154,1.03969235587
+252,4.200000000,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946155,1.03969235587
+253,4.216666667,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946154,1.03969235587
+254,4.233333333,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946154,1.03969235587
+255,4.250000000,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946154,1.03969235587
+256,4.266666667,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946155,1.03969235587
+257,4.283333333,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946152,1.03969235587
+258,4.300000000,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946155,1.03969235587
+259,4.316666667,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946151,1.03969235587
+260,4.333333333,pose2_hold,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946153,1.03969235587
+261,4.350000000,pose2_to_pose3_retreat,0.617597978626,-0.00981808895897,1.04002064822,0.588169125436,-0.00114384946151,1.03969235587
+262,4.366666667,pose2_to_pose3_retreat,0.617597934907,-0.0098181323879,1.04002076245,0.588169081322,-0.00114389439493,1.03969246581
+263,4.383333333,pose2_to_pose3_retreat,0.617597923967,-0.00981814325594,1.04002079103,0.588169070282,-0.00114390563947,1.03969249332
+264,4.400000000,pose2_to_pose3_retreat,0.617597781177,-0.00981807909172,1.04002067386,0.588168927098,-0.00114384269129,1.03969237935
+265,4.416666667,pose2_to_pose3_retreat,0.617597661374,-0.00981802104806,1.04002056554,0.588168806983,-0.00114378559235,1.03969227405
+266,4.433333333,pose2_to_pose3_retreat,0.617597518795,-0.00981801808032,1.04002053517,0.58816866427,-0.00114378308082,1.0396922436
+267,4.450000000,pose2_to_pose3_retreat,0.61759716702,-0.00981807097555,1.04002054998,0.588168312384,-0.00114383649306,1.03969225486
+268,4.466666667,pose2_to_pose3_retreat,0.617596528835,-0.00981816693719,1.04002057685,0.588167673998,-0.00114393339266,1.0396922753
+269,4.483333333,pose2_to_pose3_retreat,0.617594983409,-0.00981815611747,1.04002056309,0.588166128216,-0.0011439236449,1.03969226521
+270,4.500000000,pose2_to_pose3_retreat,0.617590178151,-0.0098181364885,1.04002060868,0.588161323733,-0.00114390105948,1.03969231864
+271,4.516666667,pose2_to_pose3_retreat,0.617580790812,-0.00981830644533,1.04002055009,0.588151938009,-0.00114406558839,1.03969225777
+272,4.533333333,pose2_to_pose3_retreat,0.617562969997,-0.00981814044013,1.0400206843,0.58813411436,-0.00114390946652,1.03969238488
+273,4.550000000,pose2_to_pose3_retreat,0.617536634302,-0.00981825151231,1.0400204927,0.58810778229,-0.00114400789995,1.03969220296
+274,4.566666667,pose2_to_pose3_retreat,0.617500716531,-0.00981816995681,1.04002049303,0.588071862129,-0.00114393442917,1.03969220762
+275,4.583333333,pose2_to_pose3_retreat,0.617456138549,-0.00981818421904,1.04002046838,0.588027283574,-0.00114395056184,1.03969217949
+276,4.600000000,pose2_to_pose3_retreat,0.617402582814,-0.00981815647562,1.04002051002,0.5879737276,-0.00114392359117,1.03969221707
+277,4.616666667,pose2_to_pose3_retreat,0.617342218492,-0.00981812987812,1.04002048632,0.587913364094,-0.00114389457076,1.03969218785
+278,4.633333333,pose2_to_pose3_retreat,0.617275189946,-0.00981817953243,1.04002043876,0.587846335715,-0.00114394353013,1.03969214157
+279,4.650000000,pose2_to_pose3_retreat,0.617199291315,-0.00981821888545,1.04002049128,0.587770436993,-0.00114398344733,1.03969219246
+280,4.666666667,pose2_to_pose3_retreat,0.617114102554,-0.00981820129979,1.04002057976,0.587685248611,-0.00114396527923,1.03969227751
+281,4.683333333,pose2_to_pose3_retreat,0.617017668825,-0.00981817909405,1.04002049504,0.587588814996,-0.00114394219501,1.03969220822
+282,4.700000000,pose2_to_pose3_retreat,0.616908092706,-0.00981812346778,1.04002032047,0.587479237977,-0.00114388981234,1.0396920301
+283,4.716666667,pose2_to_pose3_retreat,0.616783883433,-0.00981819959193,1.0400204619,0.587355029263,-0.00114396430144,1.03969216969
+284,4.733333333,pose2_to_pose3_retreat,0.616645690458,-0.00981825844143,1.04002061457,0.587216836776,-0.00114402182854,1.03969231862
+285,4.750000000,pose2_to_pose3_retreat,0.616493561218,-0.00981825096539,1.04002059371,0.587064707653,-0.00114401414,1.03969229703
+286,4.766666667,pose2_to_pose3_retreat,0.616325057744,-0.00981820480968,1.04002041574,0.586896204061,-0.00114396836938,1.03969212411
+287,4.783333333,pose2_to_pose3_retreat,0.616141190978,-0.00981822112134,1.04002040234,0.586712337019,-0.00114398582803,1.03969211324
+288,4.800000000,pose2_to_pose3_retreat,0.615941222074,-0.00981834983753,1.04002054904,0.586512370261,-0.00114410771715,1.03969224857
+289,4.816666667,pose2_to_pose3_retreat,0.615721357326,-0.00981825097988,1.04002050475,0.586292504899,-0.00114401128786,1.03969220164
+290,4.833333333,pose2_to_pose3_retreat,0.615480838966,-0.00981822910292,1.04002050694,0.586051986356,-0.00114399010876,1.03969220914
+291,4.850000000,pose2_to_pose3_retreat,0.615225130878,-0.00981828108634,1.04002062378,0.58579627874,-0.00114404053072,1.03969233181
+292,4.866666667,pose2_to_pose3_retreat,0.614955268461,-0.00981828210562,1.04002072795,0.585526416424,-0.00114404139842,1.03969243762
+293,4.883333333,pose2_to_pose3_retreat,0.614670344036,-0.00981817827638,1.04002052463,0.585241491282,-0.00114394017511,1.03969223676
+294,4.900000000,pose2_to_pose3_retreat,0.614372296916,-0.00981821753103,1.04002043881,0.584943445334,-0.00114397584173,1.03969214778
+295,4.916666667,pose2_to_pose3_retreat,0.614059674393,-0.00981827653365,1.04002040999,0.584630822777,-0.00114403526325,1.03969211833
+296,4.933333333,pose2_to_pose3_retreat,0.613723395445,-0.00981829625079,1.04002042852,0.584294543293,-0.0011440572458,1.03969213259
+297,4.950000000,pose2_to_pose3_retreat,0.613361741917,-0.00981828643567,1.0400204607,0.583932889759,-0.00114404795816,1.03969215896
+298,4.966666667,pose2_to_pose3_retreat,0.612972173445,-0.00981831752825,1.04002045302,0.583543322665,-0.00114407451931,1.03969215557
+299,4.983333333,pose2_to_pose3_retreat,0.612557866444,-0.00981806566768,1.04002054151,0.583129012733,-0.00114383271071,1.03969224769
+300,5.000000000,pose2_to_pose3_retreat,0.612120268477,-0.00981823103138,1.04002043681,0.582691417222,-0.00114398964056,1.03969214851
+301,5.016666667,pose2_to_pose3_retreat,0.611668237717,-0.00981828293497,1.04002049679,0.582239386547,-0.00114404142207,1.03969220396
+302,5.033333333,pose2_to_pose3_retreat,0.611204618021,-0.00981823266673,1.04002053126,0.581775766245,-0.00114399311636,1.03969224046
+303,5.050000000,pose2_to_pose3_retreat,0.610729587255,-0.00981820796312,1.04002053041,0.581300735492,-0.0011439683424,1.03969224038
+304,5.066666667,pose2_to_pose3_retreat,0.610241359113,-0.00981827224546,1.0400206002,0.580812507766,-0.00114403173134,1.03969229649
+305,5.083333333,pose2_to_pose3_retreat,0.60973227026,-0.00981812664421,1.04002064613,0.580303417828,-0.00114388935805,1.03969235439
+306,5.100000000,pose2_to_pose3_retreat,0.609203411095,-0.00981828481135,1.04002047853,0.579774561748,-0.00114403710567,1.03969218558
+307,5.116666667,pose2_to_pose3_retreat,0.60865519418,-0.00981829085102,1.0400205097,0.579226344108,-0.00114404581435,1.03969221125
+308,5.133333333,pose2_to_pose3_retreat,0.608090741254,-0.00981818969843,1.04002063643,0.578661888952,-0.00114395245539,1.03969233184
+309,5.150000000,pose2_to_pose3_retreat,0.607511911592,-0.00981814593308,1.04002065591,0.578083058338,-0.00114391197,1.03969234996
+310,5.166666667,pose2_to_pose3_retreat,0.606914544723,-0.00981829663206,1.04002045506,0.577485692751,-0.00114405800366,1.03969215743
+311,5.183333333,pose2_to_pose3_retreat,0.606296431927,-0.00981831655068,1.04002063947,0.576867581101,-0.00114407383998,1.03969234685
+312,5.200000000,pose2_to_pose3_retreat,0.605652977063,-0.00981817351644,1.04002047789,0.576224123609,-0.00114393985376,1.03969218169
+313,5.216666667,pose2_to_pose3_retreat,0.604992607029,-0.00981824158034,1.04002050343,0.575563754725,-0.00114400399822,1.03969220767
+314,5.233333333,pose2_to_pose3_retreat,0.604320581424,-0.00981824436738,1.04002047707,0.574891729229,-0.00114400631791,1.03969218386
+315,5.250000000,pose2_to_pose3_retreat,0.603637802557,-0.00981823265395,1.04002051673,0.574208949923,-0.00114399617719,1.03969222121
+316,5.266666667,pose2_to_pose3_retreat,0.602945608504,-0.00981830217756,1.04002070239,0.573516756558,-0.00114406364865,1.03969239939
+317,5.283333333,pose2_to_pose3_retreat,0.602254644626,-0.0098182706638,1.04002070967,0.572825791992,-0.00114403455584,1.0396924043
+318,5.300000000,pose2_to_pose3_retreat,0.60155842975,-0.0098181931337,1.0400207169,0.57212957569,-0.00114396191118,1.03969241023
+319,5.316666667,pose2_to_pose3_retreat,0.600852548102,-0.00981824041144,1.04002072753,0.571423694645,-0.00114400718151,1.03969241974
+320,5.333333333,pose2_to_pose3_retreat,0.600144120893,-0.00981826100527,1.0400205467,0.570715268648,-0.00114402331001,1.03969224822
+321,5.350000000,pose2_to_pose3_retreat,0.599431703669,-0.00981821253578,1.04002042332,0.570002851235,-0.00114397526681,1.03969213048
+322,5.366666667,pose2_to_pose3_retreat,0.598710544904,-0.00981816633467,1.04002041753,0.569281691715,-0.00114393162526,1.03969212467
+323,5.383333333,pose2_to_pose3_retreat,0.597980291029,-0.00981824222526,1.04002044584,0.56855143892,-0.00114400381281,1.03969215393
+324,5.400000000,pose2_to_pose3_retreat,0.597239501942,-0.00981843406672,1.04002068768,0.567810651771,-0.00114418940896,1.039692387
+325,5.416666667,pose2_to_pose3_retreat,0.596505853745,-0.00981825735119,1.04002079206,0.567077001984,-0.00114401806413,1.03969249195
+326,5.433333333,pose2_to_pose3_retreat,0.595792255996,-0.00981833586231,1.04002053035,0.566363404973,-0.00114409380974,1.03969223706
+327,5.450000000,pose2_to_pose3_retreat,0.595086926511,-0.00981821404303,1.04002047835,0.565658074375,-0.00114397577109,1.03969218501
+328,5.466666667,pose2_to_pose3_retreat,0.594385556651,-0.00981813679075,1.04002048131,0.564956703785,-0.00114390111764,1.0396921847
+329,5.483333333,pose2_to_pose3_retreat,0.593685324166,-0.00981831540438,1.04002037182,0.564256472669,-0.00114407512333,1.03969207414
+330,5.500000000,pose2_to_pose3_retreat,0.592977358989,-0.00981816250669,1.0400206947,0.563548504719,-0.00114393182937,1.03969239178
+331,5.516666667,pose2_to_pose3_retreat,0.59225707926,-0.00981833257883,1.04002036805,0.562828226787,-0.00114409551923,1.03969207262
+332,5.533333333,pose2_to_pose3_retreat,0.591539143884,-0.0098182352181,1.04002063777,0.562110292137,-0.00114399571245,1.03969234194
+333,5.550000000,pose2_to_pose3_retreat,0.590831200444,-0.00981838215825,1.0400206371,0.56140235176,-0.00114413209191,1.03969234569
+334,5.566666667,pose2_to_pose3_retreat,0.590136151831,-0.00981840250899,1.04002039567,0.560707303146,-0.00114415208438,1.0396921137
+335,5.583333333,pose2_to_pose3_retreat,0.589453023254,-0.00981814023107,1.04002033218,0.560024170541,-0.00114390333929,1.03969205366
+336,5.600000000,pose2_to_pose3_retreat,0.58878549005,-0.0098180255348,1.04002063851,0.559356635815,-0.00114379424355,1.03969234848
+337,5.616666667,pose2_to_pose3_retreat,0.588131242436,-0.00981826677908,1.04002051823,0.558702389936,-0.00114402954716,1.03969222966
+338,5.633333333,pose2_to_pose3_retreat,0.587490462676,-0.009818309033,1.04002055062,0.558061611024,-0.00114406918467,1.0396922551
+339,5.650000000,pose2_to_pose3_retreat,0.586863016536,-0.00981825291644,1.04002062897,0.55743416482,-0.00114401328713,1.03969233334
+340,5.666666667,pose2_to_pose3_retreat,0.586245508248,-0.00981825068876,1.04002054395,0.556816656077,-0.00114401246987,1.0396922518
+341,5.683333333,pose2_to_pose3_retreat,0.585645546871,-0.00981832809894,1.04002036473,0.556216694875,-0.00114408915755,1.03969207599
+342,5.700000000,pose2_to_pose3_retreat,0.585061475866,-0.00981836926843,1.04002035712,0.555632624701,-0.0011441275001,1.03969206859
+343,5.716666667,pose2_to_pose3_retreat,0.584491614099,-0.00981814584194,1.0400207932,0.555062761598,-0.00114390887852,1.03969249741
+344,5.733333333,pose2_to_pose3_retreat,0.583939567509,-0.00981827927274,1.04002034945,0.554510715936,-0.00114403886875,1.03969206143
+345,5.750000000,pose2_to_pose3_retreat,0.583407179819,-0.00981828715358,1.04002017281,0.55397832846,-0.00114404582595,1.03969188998
+346,5.766666667,pose2_to_pose3_retreat,0.582890065908,-0.00981818449688,1.04002028329,0.55346121268,-0.00114394967264,1.03969199615
+347,5.783333333,pose2_to_pose3_retreat,0.582390813089,-0.00981814180666,1.04002048472,0.552961959421,-0.00114390885414,1.03969218752
+348,5.800000000,pose2_to_pose3_retreat,0.581915147912,-0.00981823108023,1.04002061838,0.552486296647,-0.0011439902979,1.0396923128
+349,5.816666667,pose2_to_pose3_retreat,0.581461789174,-0.00981830441714,1.04002070929,0.552032939117,-0.00114405958152,1.03969240249
+350,5.833333333,pose2_to_pose3_retreat,0.581029475072,-0.00981828499944,1.04002054478,0.551600623972,-0.0011440430848,1.03969225421
+351,5.850000000,pose2_to_pose3_retreat,0.580608387172,-0.00981824386734,1.04002062815,0.551179535037,-0.0011440056208,1.03969233343
+352,5.866666667,pose2_to_pose3_retreat,0.580197023466,-0.00981816852468,1.04002046278,0.550768170665,-0.00114393251092,1.03969216886
+353,5.883333333,pose2_to_pose3_retreat,0.57980098587,-0.00981822891947,1.04002041634,0.550372133717,-0.00114399083905,1.03969211896
+354,5.900000000,pose2_to_pose3_retreat,0.579423593836,-0.0098183431026,1.04002053962,0.549994742743,-0.00114410163921,1.03969223663
+355,5.916666667,pose2_to_pose3_retreat,0.579072153427,-0.0098182699126,1.04002042279,0.549643301987,-0.00114402936059,1.03969212685
+356,5.933333333,pose2_to_pose3_retreat,0.578748111874,-0.00981831268398,1.04002046258,0.549319260529,-0.00114407204921,1.03969216024
+357,5.950000000,pose2_to_pose3_retreat,0.578453367331,-0.00981811366169,1.04002046977,0.54902451472,-0.00114387732125,1.0396921675
+358,5.966666667,pose2_to_pose3_retreat,0.578179869006,-0.00981823430308,1.04002036515,0.548751018013,-0.00114399229314,1.03969206765
+359,5.983333333,pose2_to_pose3_retreat,0.577925745589,-0.0098182629092,1.04002036473,0.548496893917,-0.00114402316129,1.03969206839
+360,6.000000000,pose2_to_pose3_retreat,0.577685010582,-0.00981816526733,1.04002047002,0.54825615682,-0.00114393262796,1.03969217341
+361,6.016666667,pose2_to_pose3_retreat,0.577455638992,-0.00981816105702,1.04002054382,0.54802678639,-0.0011439242586,1.03969225322
+362,6.033333333,pose2_to_pose3_retreat,0.577237757615,-0.00981819203235,1.04002067264,0.547808904309,-0.00114395794784,1.03969237329
+363,6.050000000,pose2_to_pose3_retreat,0.577031794439,-0.00981832212654,1.04002068225,0.547602942425,-0.00114408359716,1.03969238451
+364,6.066666667,pose2_to_pose3_retreat,0.576839472547,-0.0098182881784,1.0400204692,0.547410620502,-0.00114404941241,1.03969218066
+365,6.083333333,pose2_to_pose3_retreat,0.576667139443,-0.00981833443565,1.04002051531,0.547238287659,-0.00114409513269,1.03969221749
+366,6.100000000,pose2_to_pose3_retreat,0.576514669216,-0.00981825756401,1.04002054806,0.54708581695,-0.00114401980251,1.03969225275
+367,6.116666667,pose2_to_pose3_retreat,0.576382795712,-0.00981824943361,1.0400206316,0.546953943969,-0.00114400984997,1.03969233757
+368,6.133333333,pose2_to_pose3_retreat,0.576268435645,-0.00981839630099,1.04002078029,0.546839585729,-0.00114415094907,1.03969247488
+369,6.150000000,pose2_to_pose3_retreat,0.576171171228,-0.00981830999695,1.0400205716,0.546742320776,-0.0011440661951,1.03969227331
+370,6.166666667,pose2_to_pose3_retreat,0.576085529787,-0.00981828465755,1.04002068392,0.546656678051,-0.00114404542682,1.03969238002
+371,6.183333333,pose2_to_pose3_retreat,0.576010439269,-0.0098182362008,1.04002062545,0.546581586711,-0.00114399971514,1.03969232295
+372,6.200000000,pose2_to_pose3_retreat,0.575944565305,-0.00981819713884,1.04002067806,0.546515711881,-0.00114396353334,1.03969237734
+373,6.216666667,pose2_to_pose3_retreat,0.575887496094,-0.00981816360619,1.04002074812,0.546458642547,-0.00114393041516,1.0396924474
+374,6.233333333,pose2_to_pose3_retreat,0.575838975,-0.00981813198941,1.04002059191,0.546410123203,-0.00114389288996,1.03969229038
+375,6.250000000,pose2_to_pose3_retreat,0.575798064164,-0.00981829297547,1.04002069191,0.546369213752,-0.00114404917586,1.0396923904
+376,6.266666667,pose2_to_pose3_retreat,0.575765137663,-0.00981835307519,1.04002050453,0.54633628623,-0.00114411257701,1.03969220729
+377,6.283333333,pose2_to_pose3_retreat,0.575738598207,-0.00981833359518,1.04002061083,0.546309746567,-0.00114409405119,1.03969230699
+378,6.300000000,pose2_to_pose3_retreat,0.575717535997,-0.00981829361505,1.04002061842,0.546288684162,-0.00114405479786,1.03969231281
+379,6.316666667,pose2_to_pose3_retreat,0.575701840479,-0.00981825506059,1.04002049015,0.546272988112,-0.00114401776657,1.039692192
+380,6.333333333,pose2_to_pose3_retreat,0.575690531917,-0.00981819162069,1.04002064401,0.546261679332,-0.00114395482977,1.03969235212
+381,6.350000000,pose2_to_pose3_retreat,0.575682728881,-0.00981819755358,1.04002042503,0.546253875983,-0.00114396186024,1.03969213219
+382,6.366666667,pose2_to_pose3_retreat,0.57567757391,-0.00981825454592,1.04002033309,0.546248721375,-0.00114401763211,1.03969204007
+383,6.383333333,pose2_to_pose3_retreat,0.575674891182,-0.00981833746101,1.04002037802,0.546246039479,-0.00114409768585,1.03969208598
+384,6.400000000,pose2_to_pose3_retreat,0.575672827861,-0.00981839195343,1.04002041503,0.546243976704,-0.00114415030686,1.03969212353
+385,6.416666667,pose2_to_pose3_retreat,0.575671414077,-0.00981831312658,1.04002047101,0.546242562105,-0.0011440743204,1.03969217743
+386,6.433333333,pose2_to_pose3_retreat,0.575670379392,-0.0098182554368,1.04002051198,0.546241526824,-0.00114401870936,1.03969221687
+387,6.450000000,pose2_to_pose3_retreat,0.575669614122,-0.00981821276843,1.04002054229,0.546240761112,-0.00114397757847,1.03969224605
+388,6.466666667,pose2_to_pose3_retreat,0.57566912065,-0.00981819281481,1.04002050452,0.546240267438,-0.001143958251,1.03969220992
+389,6.483333333,pose2_to_pose3_retreat,0.57566879369,-0.00981818626756,1.04002042891,0.546239940416,-0.00114395179621,1.0396921375
+390,6.500000000,pose2_to_pose3_retreat,0.575668630117,-0.00981818299207,1.04002039109,0.546239776812,-0.00114394856697,1.03969210127
+391,6.516666667,pose2_to_pose3_retreat,0.575668493321,-0.00981818025279,1.04002035945,0.54623963999,-0.00114394586637,1.03969207097
+392,6.533333333,pose2_to_pose3_retreat,0.575668430996,-0.00981817900475,1.04002034504,0.546239577653,-0.00114394463595,1.03969205716
+393,6.550000000,pose2_to_pose3_retreat,0.575668244772,-0.00981817527568,1.04002030198,0.546239391393,-0.00114394095955,1.03969201591
+394,6.566666667,pose2_to_pose3_retreat,0.575667993804,-0.00981817025015,1.04002024394,0.546239140378,-0.00114393600498,1.03969196032
+395,6.583333333,pose2_to_pose3_retreat,0.57566776306,-0.00981816562958,1.04002019058,0.54623890959,-0.00114393144966,1.03969190921
+396,6.600000000,pose2_to_pose3_retreat,0.575667438415,-0.00981816423966,1.04002013293,0.546238584957,-0.00114392992351,1.03969185413
+397,6.616666667,pose2_to_pose3_retreat,0.575667293438,-0.00981821062626,1.04002026746,0.546238440665,-0.00114397415204,1.03969198426
+398,6.633333333,pose2_to_pose3_retreat,0.575667292598,-0.00981821089521,1.04002026824,0.546238439829,-0.00114397440847,1.03969198502
+399,6.650000000,pose2_to_pose3_retreat,0.575667191189,-0.00981824334191,1.04002036234,0.546238338899,-0.00114400534563,1.03969207604
+400,6.666666667,pose2_to_pose3_retreat,0.575667007649,-0.00981830206716,1.04002053266,0.546238156226,-0.00114406133876,1.03969224079
+401,6.683333333,pose2_to_pose3_retreat,0.57566693195,-0.00981825182533,1.04002054996,0.546238079917,-0.00114401332766,1.03969225388
+402,6.700000000,pose2_to_pose3_retreat,0.575666928715,-0.00981824955609,1.04002055061,0.546238076654,-0.00114401115925,1.03969225435
+403,6.716666667,pose2_to_pose3_retreat,0.57566692038,-0.0098182437089,1.04002055229,0.546238068248,-0.00114400557189,1.03969225556
+404,6.733333333,pose2_to_pose3_retreat,0.575666903104,-0.00981823158926,1.04002055578,0.546238050824,-0.00114399399081,1.03969225806
+405,6.750000000,pose2_to_pose3_retreat,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980861,1.03969226032

Obstacle_avoidance/cylinder_15A_10/position_06/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7606b5a2b5bc3cb88ffe0101df5abe8830b9a98722245705353418622c883060
+size 25861328

Obstacle_avoidance/cylinder_15A_10/position_06/depth_02/simulation_data.csv

@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+1,0.016666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+2,0.033333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+3,0.050000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+4,0.066666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+5,0.083333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+6,0.100000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+7,0.116666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+8,0.133333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+9,0.150000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+10,0.166666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+11,0.183333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+12,0.200000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+13,0.216666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+14,0.233333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+15,0.250000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+16,0.266666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+17,0.283333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+18,0.300000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+19,0.316666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+20,0.333333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+21,0.350000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+22,0.366666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+23,0.383333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+24,0.400000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+25,0.416666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+26,0.433333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+27,0.450000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+28,0.466666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+29,0.483333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+30,0.500000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+31,0.516666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+32,0.533333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+33,0.550000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+34,0.566666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+35,0.583333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+36,0.600000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+37,0.616666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+38,0.633333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+39,0.650000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+40,0.666666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+41,0.683333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+42,0.700000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+43,0.716666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+44,0.733333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+45,0.750000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+46,0.766666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+47,0.783333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+48,0.800000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+49,0.816666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+50,0.833333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+51,0.850000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+52,0.866666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+53,0.883333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+54,0.900000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+55,0.916666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+56,0.933333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+57,0.950000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+58,0.966666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+59,0.983333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+60,1.000000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+61,1.016666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+62,1.033333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+63,1.050000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+64,1.066666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+65,1.083333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+66,1.100000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+67,1.116666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+68,1.133333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+69,1.150000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+70,1.166666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+71,1.183333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+72,1.200000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+73,1.216666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+74,1.233333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+75,1.250000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+76,1.266666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+77,1.283333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+78,1.300000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+79,1.316666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+80,1.333333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+81,1.350000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+82,1.366666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+83,1.383333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+84,1.400000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+85,1.416666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+86,1.433333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+87,1.450000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+88,1.466666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+89,1.483333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+90,1.500000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+91,1.516666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+92,1.533333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+93,1.550000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+94,1.566666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+95,1.583333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+96,1.600000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+97,1.616666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+98,1.633333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+99,1.650000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+100,1.666666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+101,1.683333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+102,1.700000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+103,1.716666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+104,1.733333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+105,1.750000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+106,1.766666667,pose1_to_pose2_press,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+107,1.783333333,pose1_to_pose2_press,0.575666986913,-0.00981826092499,1.04002055592,0.546238134356,-0.00114402425054,1.03969225855
+108,1.800000000,pose1_to_pose2_press,0.575667088648,-0.00981823581921,1.04002052351,0.546238236042,-0.0011439992461,1.03969222796
+109,1.816666667,pose1_to_pose2_press,0.575667173101,-0.00981820074481,1.04002049066,0.546238320472,-0.00114396418546,1.03969219673
+110,1.833333333,pose1_to_pose2_press,0.575667232105,-0.00981817623969,1.04002046771,0.546238379461,-0.00114393968995,1.0396921749
+111,1.850000000,pose1_to_pose2_press,0.57566729832,-0.00981814873947,1.04002044195,0.546238445659,-0.00114391220052,1.03969215042
+112,1.866666667,pose1_to_pose2_press,0.57566734979,-0.0098181273634,1.04002042193,0.546238497115,-0.00114389083283,1.03969213138
+113,1.883333333,pose1_to_pose2_press,0.575667436877,-0.00981812387124,1.04002042805,0.546238584198,-0.00114388733905,1.03969213789
+114,1.900000000,pose1_to_pose2_press,0.575668008724,-0.00981814384851,1.0400205208,0.546239156045,-0.00114390728492,1.03969223151
+115,1.916666667,pose1_to_pose2_press,0.575670745399,-0.00981827386356,1.04002049402,0.54624189422,-0.00114403235303,1.03969220107
+116,1.933333333,pose1_to_pose2_press,0.575676892158,-0.00981815244289,1.04002054163,0.546248039348,-0.00114391647602,1.03969224824
+117,1.950000000,pose1_to_pose2_press,0.575690670918,-0.00981824636898,1.04002048302,0.546261817992,-0.00114401080274,1.03969218941
+118,1.966666667,pose1_to_pose2_press,0.575712892471,-0.00981825135925,1.04002047076,0.546284040485,-0.00114401291528,1.03969216888
+119,1.983333333,pose1_to_pose2_press,0.575746198685,-0.00981825090252,1.04002074411,0.546317346142,-0.0011440142948,1.03969244357
+120,2.000000000,pose1_to_pose2_press,0.575789520409,-0.00981823018222,1.04002054729,0.546360667919,-0.00114399320148,1.03969225167
+121,2.016666667,pose1_to_pose2_press,0.575843015443,-0.0098182351975,1.04002034829,0.546414163096,-0.00114399749203,1.03969205892
+122,2.033333333,pose1_to_pose2_press,0.57590457044,-0.00981825861107,1.04002052086,0.546475718096,-0.00114402134015,1.03969221974
+123,2.050000000,pose1_to_pose2_press,0.575973748778,-0.00981821818568,1.04002067998,0.546544895911,-0.00114398282321,1.03969237523
+124,2.066666667,pose1_to_pose2_press,0.576051580007,-0.00981828608653,1.04002050871,0.546622727159,-0.00114405042737,1.03969220999
+125,2.083333333,pose1_to_pose2_press,0.576138114705,-0.00981835139856,1.04002043157,0.546709262988,-0.00114411183484,1.03969213455
+126,2.100000000,pose1_to_pose2_press,0.576234222153,-0.00981830049531,1.04002044075,0.546805370012,-0.00114406242599,1.03969214229
+127,2.116666667,pose1_to_pose2_press,0.576341775387,-0.00981824409488,1.04002049315,0.546912921896,-0.00114401067231,1.03969219298
+128,2.133333333,pose1_to_pose2_press,0.576462775275,-0.00981829168039,1.04002056965,0.547033922205,-0.00114405684273,1.03969226909
+129,2.150000000,pose1_to_pose2_press,0.576599520855,-0.00981832140685,1.04002054247,0.547170670181,-0.00114407829862,1.03969224561
+130,2.166666667,pose1_to_pose2_press,0.576753120833,-0.00981820817611,1.04002041612,0.547324269634,-0.00114396651718,1.03969212795
+131,2.183333333,pose1_to_pose2_press,0.576926494001,-0.00981827512705,1.04002068239,0.547497643309,-0.00114403228085,1.03969238009
+132,2.200000000,pose1_to_pose2_press,0.577118396913,-0.00981810548639,1.04002056215,0.547689544048,-0.0011438696556,1.03969226928
+133,2.216666667,pose1_to_pose2_press,0.577330450754,-0.00981811314434,1.04002065712,0.547901598627,-0.00114387504957,1.03969235783
+134,2.233333333,pose1_to_pose2_press,0.577559890668,-0.00981821521012,1.04002061559,0.548131037944,-0.00114397924269,1.03969231354
+135,2.250000000,pose1_to_pose2_press,0.577806289206,-0.00981817128489,1.040020471,0.54837743622,-0.00114393588679,1.03969217731
+136,2.266666667,pose1_to_pose2_press,0.57807416925,-0.00981809308677,1.04002040669,0.548645315872,-0.00114385884383,1.03969211761
+137,2.283333333,pose1_to_pose2_press,0.578360208699,-0.00981813473698,1.04002042625,0.548931355665,-0.00114389947768,1.03969213312
+138,2.300000000,pose1_to_pose2_press,0.578658596727,-0.0098182025618,1.04002048866,0.549229744588,-0.00114396447166,1.03969219
+139,2.316666667,pose1_to_pose2_press,0.578970189765,-0.00981817682599,1.04002060091,0.54954133737,-0.00114393965813,1.03969230085
+140,2.333333333,pose1_to_pose2_press,0.579297279756,-0.00981818935748,1.04002068062,0.549868427394,-0.00114395188652,1.03969238557
+141,2.350000000,pose1_to_pose2_press,0.579635012769,-0.00981828671657,1.0400208234,0.55020616227,-0.00114404323118,1.03969252018
+142,2.366666667,pose1_to_pose2_press,0.579985392524,-0.00981824590136,1.04002055763,0.550556541212,-0.00114400515227,1.03969225502
+143,2.383333333,pose1_to_pose2_press,0.580373403311,-0.00981828802118,1.04002049524,0.550944552723,-0.00114404445211,1.03969220222
+144,2.400000000,pose1_to_pose2_press,0.580794790163,-0.00981818200491,1.0400204575,0.551365938206,-0.00114394286256,1.03969217009
+145,2.416666667,pose1_to_pose2_press,0.581246011988,-0.00981812515123,1.04002052482,0.551817159471,-0.00114388799785,1.03969223508
+146,2.433333333,pose1_to_pose2_press,0.581721730728,-0.00981821022037,1.04002062214,0.552292879079,-0.00114397027998,1.03969232819
+147,2.450000000,pose1_to_pose2_press,0.582219340192,-0.00981821419871,1.04002056882,0.552790487806,-0.00114397694975,1.03969226987
+148,2.466666667,pose1_to_pose2_press,0.582714635334,-0.00981818687831,1.04002054507,0.553285783392,-0.00114394814286,1.03969224553
+149,2.483333333,pose1_to_pose2_press,0.583212208852,-0.00981812569417,1.04002039083,0.553783357548,-0.0011438841237,1.03969210898
+150,2.500000000,pose1_to_pose2_press,0.583732454234,-0.00981826088853,1.04002054929,0.554303603714,-0.00114401713203,1.03969225488
+151,2.516666667,pose1_to_pose2_press,0.584276242548,-0.00981833087058,1.0400203497,0.554847392361,-0.00114408599406,1.039692055
+152,2.533333333,pose1_to_pose2_press,0.584844508343,-0.00981819095802,1.04002027761,0.555415655109,-0.00114395617991,1.03969198923
+153,2.550000000,pose1_to_pose2_press,0.585432398547,-0.00981810577389,1.04002036438,0.556003544478,-0.00114387391863,1.03969207362
+154,2.566666667,pose1_to_pose2_press,0.58603326361,-0.00981829877077,1.04002033538,0.556604413059,-0.00114405496489,1.03969204506
+155,2.583333333,pose1_to_pose2_press,0.586642910831,-0.0098183880654,1.0400202697,0.557214061744,-0.00114413918634,1.03969198214
+156,2.600000000,pose1_to_pose2_press,0.587264311104,-0.00981829555362,1.04002030996,0.557835459966,-0.00114405359428,1.03969202342
+157,2.616666667,pose1_to_pose2_press,0.58790476534,-0.0098183379127,1.04002042017,0.558475913873,-0.00114409710801,1.03969213265
+158,2.633333333,pose1_to_pose2_press,0.588564149259,-0.00981827195437,1.04002055805,0.559135297944,-0.00114403095956,1.0396922619
+159,2.650000000,pose1_to_pose2_press,0.58923984189,-0.00981835197163,1.04002052531,0.559810990813,-0.00114410987901,1.03969223688
+160,2.666666667,pose1_to_pose2_press,0.589924282498,-0.0098183350447,1.04002068905,0.560495430836,-0.00114409547935,1.03969238625
+161,2.683333333,pose1_to_pose2_press,0.590617017462,-0.00981829027187,1.04002047017,0.561188167171,-0.00114404569735,1.03969217681
+162,2.700000000,pose1_to_pose2_press,0.591317539943,-0.00981824947529,1.04002052146,0.561888688589,-0.00114400865131,1.03969222434
+163,2.716666667,pose1_to_pose2_press,0.592030115954,-0.00981834531612,1.04002056585,0.56260126579,-0.00114410057092,1.03969226567
+164,2.733333333,pose1_to_pose2_press,0.592756855442,-0.00981833655441,1.04002044117,0.563328004164,-0.00114409555828,1.03969214192
+165,2.750000000,pose1_to_pose2_press,0.593489677024,-0.0098182204837,1.04002036047,0.564060822665,-0.00114398980786,1.03969206469
+166,2.766666667,pose1_to_pose2_press,0.594225994128,-0.00981816659425,1.04002046797,0.564797139967,-0.00114393520531,1.03969217339
+167,2.783333333,pose1_to_pose2_press,0.594951975133,-0.00981817404419,1.04002062981,0.56552312341,-0.00114393465506,1.03969232806
+168,2.800000000,pose1_to_pose2_press,0.595671317239,-0.0098182595222,1.04002082499,0.566242464408,-0.00114402415343,1.03969251637
+169,2.816666667,pose1_to_pose2_press,0.596393984324,-0.00981825083209,1.04002044602,0.566965134621,-0.00114400423908,1.03969215364
+170,2.833333333,pose1_to_pose2_press,0.59712326899,-0.00981815444591,1.04002050587,0.567694417532,-0.0011439136257,1.0396922183
+171,2.850000000,pose1_to_pose2_press,0.597862208386,-0.00981820034887,1.0400205201,0.568433356538,-0.00114396088945,1.03969223157
+172,2.866666667,pose1_to_pose2_press,0.598605586793,-0.00981828334338,1.0400205627,0.569176735704,-0.00114404166192,1.03969226484
+173,2.883333333,pose1_to_pose2_press,0.599348131607,-0.00981826950381,1.04002072458,0.569919279028,-0.00114403321834,1.0396924179
+174,2.900000000,pose1_to_pose2_press,0.600090328245,-0.009818135008,1.04002072968,0.570661474216,-0.00114390360267,1.03969242398
+175,2.916666667,pose1_to_pose2_press,0.600826789685,-0.0098180830938,1.04002061334,0.571397935929,-0.00114385054091,1.03969231359
+176,2.933333333,pose1_to_pose2_press,0.601550495191,-0.00981820479141,1.04002068847,0.57212164135,-0.00114397253464,1.03969238855
+177,2.950000000,pose1_to_pose2_press,0.602268896095,-0.00981820127831,1.04002067025,0.57284004302,-0.00114396650865,1.03969236812
+178,2.966666667,pose1_to_pose2_press,0.602982188904,-0.00981836978264,1.04002043483,0.573553338058,-0.00114412717325,1.03969214004
+179,2.983333333,pose1_to_pose2_press,0.603688847286,-0.0098183597051,1.04002054777,0.574259996315,-0.00114411760525,1.03969225083
+180,3.000000000,pose1_to_pose2_press,0.604389093504,-0.00981825439753,1.04002043782,0.574960242496,-0.00114401225841,1.03969214539
+181,3.016666667,pose1_to_pose2_press,0.605074932965,-0.00981815533792,1.0400205813,0.575646079645,-0.00114392094173,1.03969229153
+182,3.033333333,pose1_to_pose2_press,0.605749941225,-0.00981828357945,1.04002051185,0.57632108853,-0.00114404727653,1.03969221652
+183,3.050000000,pose1_to_pose2_press,0.606415580735,-0.00981834293623,1.04002050883,0.576986729991,-0.00114410014739,1.03969220997
+184,3.066666667,pose1_to_pose2_press,0.607066917275,-0.00981829721079,1.04002037184,0.577638066639,-0.00114405385185,1.0396920785
+185,3.083333333,pose1_to_pose2_press,0.60770599923,-0.00981820993754,1.04002029478,0.578277147645,-0.00114396959116,1.03969200703
+186,3.100000000,pose1_to_pose2_press,0.608327437996,-0.00981815952252,1.0400205352,0.578898586561,-0.00114391879367,1.03969224416
+187,3.116666667,pose1_to_pose2_press,0.608929395228,-0.00981826286021,1.04002055473,0.579500544063,-0.00114402139797,1.03969225885
+188,3.133333333,pose1_to_pose2_press,0.609505399512,-0.00981820690997,1.04002055673,0.580076547863,-0.00114396714104,1.03969225955
+189,3.150000000,pose1_to_pose2_press,0.610057044964,-0.00981810107355,1.04002053644,0.580628190863,-0.00114386939077,1.0396922455
+190,3.166666667,pose1_to_pose2_press,0.610586087174,-0.00981830192434,1.04002067675,0.581157235281,-0.00114406318291,1.03969237446
+191,3.183333333,pose1_to_pose2_press,0.611101094793,-0.00981841018143,1.04002042941,0.581672244021,-0.00114416742549,1.03969213276
+192,3.200000000,pose1_to_pose2_press,0.611601810137,-0.00981828417411,1.04002036442,0.582172958311,-0.00114404485064,1.0396920715
+193,3.216666667,pose1_to_pose2_press,0.612086291689,-0.00981822557885,1.04002035058,0.582657439787,-0.00114398633404,1.03969206195
+194,3.233333333,pose1_to_pose2_press,0.612550904296,-0.0098182758716,1.04002037732,0.583122053292,-0.00114403332933,1.03969209323
+195,3.250000000,pose1_to_pose2_press,0.612992041797,-0.0098181837236,1.04002058847,0.583563189543,-0.00114394535794,1.03969230022
+196,3.266666667,pose1_to_pose2_press,0.613416981627,-0.00981814722044,1.04002031181,0.583988127877,-0.00114391374112,1.03969201888
+197,3.283333333,pose1_to_pose2_press,0.613829048388,-0.00981838166711,1.04002052979,0.584400196746,-0.00114414073568,1.03969223514
+198,3.300000000,pose1_to_pose2_press,0.614230098373,-0.00981818669823,1.04002058934,0.584801244547,-0.00114395317741,1.03969228506
+199,3.316666667,pose1_to_pose2_press,0.61461756568,-0.00981821774255,1.04002046816,0.585188712751,-0.00114398055647,1.03969217182
+200,3.333333333,pose1_to_pose2_press,0.614982551001,-0.00981826990629,1.04002050952,0.585553698204,-0.00114403200035,1.03969221356
+201,3.350000000,pose1_to_pose2_press,0.615320471775,-0.00981815777626,1.04002061816,0.585891617456,-0.00114392462437,1.03969232229
+202,3.366666667,pose1_to_pose2_press,0.615626227475,-0.00981816791261,1.04002065789,0.586197373609,-0.00114393271741,1.03969236613
+203,3.383333333,pose1_to_pose2_press,0.615909299848,-0.00981829580031,1.04002065194,0.586480448317,-0.00114405235888,1.03969236183
+204,3.400000000,pose1_to_pose2_press,0.61617359752,-0.0098181945569,1.04002068134,0.58674474608,-0.00114395067723,1.03969238453
+205,3.416666667,pose1_to_pose2_press,0.616425571353,-0.00981812481116,1.04002068572,0.586996716945,-0.00114389091624,1.03969238557
+206,3.433333333,pose1_to_pose2_press,0.616668244301,-0.00981819523616,1.04002059917,0.58723938999,-0.00114396078276,1.03969229778
+207,3.450000000,pose1_to_pose2_press,0.616901526357,-0.00981818149534,1.0400206561,0.587472673867,-0.00114394055107,1.03969235829
+208,3.466666667,pose1_to_pose2_press,0.617118393207,-0.00981808150281,1.0400205712,0.587689539397,-0.0011438446275,1.0396922776
+209,3.483333333,pose1_to_pose2_press,0.617314665877,-0.00981818332938,1.0400203887,0.587885811726,-0.00114394743892,1.03969209385
+210,3.500000000,pose1_to_pose2_press,0.617491390148,-0.00981822827553,1.04002046035,0.588062536002,-0.00114399238089,1.03969216042
+211,3.516666667,pose1_to_pose2_press,0.617649633912,-0.00981829249988,1.04002059547,0.588220779867,-0.00114405633192,1.03969228994
+212,3.533333333,pose1_to_pose2_press,0.617790321541,-0.00981835506205,1.040020655,0.588361468213,-0.00114411642586,1.03969234668
+213,3.550000000,pose1_to_pose2_press,0.617916803545,-0.00981826945561,1.04002066273,0.588487950759,-0.00114402855098,1.0396923616
+214,3.566666667,pose1_to_pose2_press,0.618030103914,-0.00981824709808,1.04002049279,0.588601251065,-0.0011440055857,1.03969220943
+215,3.583333333,pose1_to_pose2_press,0.618129311234,-0.00981832222453,1.04002052074,0.588700459546,-0.00114407676702,1.03969223454
+216,3.600000000,pose1_to_pose2_press,0.618213766964,-0.00981832490066,1.04002067717,0.588784913193,-0.00114408685822,1.03969237993
+217,3.616666667,pose1_to_pose2_press,0.618286054399,-0.00981806969328,1.04002079284,0.588857199906,-0.00114383424192,1.03969249283
+218,3.633333333,pose1_to_pose2_press,0.618347434229,-0.00981821434379,1.04002071328,0.58891858032,-0.00114397625845,1.03969241652
+219,3.650000000,pose1_to_pose2_press,0.618398362976,-0.0098182718647,1.04002054124,0.588969510511,-0.00114402847822,1.0396922466
+220,3.666666667,pose1_to_pose2_press,0.618441682968,-0.00981828185547,1.04002052579,0.589012831299,-0.00114403578342,1.03969223092
+221,3.683333333,pose1_to_pose2_press,0.618478288217,-0.00981827639112,1.04002061131,0.589049435593,-0.00114403374876,1.03969231595
+222,3.700000000,pose1_to_pose2_press,0.618508510832,-0.00981812180126,1.04002042795,0.589079655827,-0.00114388722469,1.03969213479
+223,3.716666667,pose1_to_pose2_press,0.618532545118,-0.00981818647857,1.04002064369,0.589103690245,-0.00114395142038,1.03969235032
+224,3.733333333,pose1_to_pose2_press,0.618551569381,-0.00981826302497,1.04002065498,0.589122714877,-0.00114402680436,1.03969236193
+225,3.750000000,pose1_to_pose2_press,0.618566193833,-0.00981820997996,1.04002051711,0.589137338572,-0.00114397653801,1.03969222217
+226,3.766666667,pose1_to_pose2_press,0.6185767374,-0.00981817976005,1.04002054054,0.589147882008,-0.00114394681456,1.03969224412
+227,3.783333333,pose1_to_pose2_press,0.618584507435,-0.0098181853386,1.04002070291,0.589155652637,-0.00114395033568,1.03969240574
+228,3.800000000,pose1_to_pose2_press,0.618589874833,-0.00981814862187,1.04002079875,0.58916102039,-0.00114391253752,1.03969250048
+229,3.816666667,pose1_to_pose2_press,0.618593177583,-0.00981821516143,1.04002057887,0.589164325031,-0.0011439723215,1.03969228994
+230,3.833333333,pose1_to_pose2_press,0.618595200232,-0.00981822939499,1.04002052445,0.589166347496,-0.0011439871676,1.03969223588
+231,3.850000000,pose1_to_pose2_press,0.618596189142,-0.00981822308247,1.04002053813,0.589167335686,-0.00114398338768,1.03969224716
+232,3.866666667,pose1_to_pose2_press,0.61859663522,-0.00981822620942,1.04002054424,0.589167781601,-0.00114398710517,1.03969225215
+233,3.883333333,pose1_to_pose2_press,0.618596899956,-0.00981824732266,1.04002054767,0.589168046766,-0.00114400679002,1.03969225477
+234,3.900000000,pose1_to_pose2_press,0.618597071083,-0.00981826097039,1.04002054989,0.58916821817,-0.00114401951443,1.03969225647
+235,3.916666667,pose1_to_pose2_press,0.618597200232,-0.00981827127037,1.04002055157,0.589168347529,-0.00114402911757,1.03969225775
+236,3.933333333,pose1_to_pose2_press,0.618597433888,-0.00981828990488,1.0400205546,0.589168581563,-0.00114404649139,1.03969226006
+237,3.950000000,pose1_to_pose2_press,0.618597653257,-0.00981830900207,1.04002060126,0.589168800925,-0.0011440657258,1.03969230337
+238,3.966666667,pose1_to_pose2_press,0.618597704805,-0.00981831372219,1.04002061858,0.589168852418,-0.00114407067002,1.03969231952
+239,3.983333333,pose1_to_pose2_press,0.61859770851,-0.00981831406149,1.04002061983,0.589168856119,-0.00114407102542,1.03969232069
+240,4.000000000,pose1_to_pose2_press,0.618597730755,-0.00981831609846,1.0400206273,0.589168878341,-0.0011440731591,1.03969232766
+241,4.016666667,pose1_to_pose2_press,0.618597854739,-0.00981832745153,1.04002066898,0.589169002194,-0.00114408505118,1.03969236651
+242,4.033333333,pose1_to_pose2_press,0.618598011549,-0.00981831910561,1.04002070616,0.589169158586,-0.00114407814782,1.0396924028
+243,4.050000000,pose1_to_pose2_press,0.618598086269,-0.009818216143,1.04002065618,0.589169232006,-0.0011439791896,1.0396923641
+244,4.066666667,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232008,-0.00114397918948,1.0396923641
+245,4.083333333,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232008,-0.00114397918941,1.0396923641
+246,4.100000000,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232008,-0.00114397918941,1.0396923641
+247,4.116666667,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918941,1.0396923641
+248,4.133333333,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918944,1.0396923641
+249,4.150000000,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918944,1.0396923641
+250,4.166666667,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918943,1.0396923641
+251,4.183333333,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918944,1.0396923641
+252,4.200000000,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918945,1.0396923641
+253,4.216666667,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918945,1.0396923641
+254,4.233333333,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918945,1.0396923641
+255,4.250000000,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918945,1.0396923641
+256,4.266666667,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918946,1.0396923641
+257,4.283333333,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918946,1.0396923641
+258,4.300000000,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918946,1.0396923641
+259,4.316666667,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918946,1.0396923641
+260,4.333333333,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918946,1.0396923641
+261,4.350000000,pose2_hold,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918945,1.0396923641
+262,4.366666667,pose2_to_pose3_retreat,0.618598086269,-0.009818216143,1.04002065618,0.589169232009,-0.00114397918945,1.0396923641
+263,4.383333333,pose2_to_pose3_retreat,0.618598021025,-0.00981830604776,1.04002069982,0.589169167905,-0.00114406559886,1.03969239789
+264,4.400000000,pose2_to_pose3_retreat,0.618597917273,-0.00981832529802,1.04002071413,0.589169064502,-0.00114408378279,1.03969240908
+265,4.416666667,pose2_to_pose3_retreat,0.618597723127,-0.00981828811267,1.04002070831,0.589168870143,-0.00114404726015,1.03969240483
+266,4.433333333,pose2_to_pose3_retreat,0.618597648711,-0.00981827385971,1.04002070608,0.589168795646,-0.00114403326121,1.03969240321
+267,4.450000000,pose2_to_pose3_retreat,0.618597641235,-0.00981827242771,1.04002070586,0.589168788161,-0.00114403185473,1.03969240304
+268,4.466666667,pose2_to_pose3_retreat,0.61859750331,-0.00981824905653,1.04002069795,0.589168650104,-0.00114400889004,1.03969239634
+269,4.483333333,pose2_to_pose3_retreat,0.618596866136,-0.00981824559158,1.04002053179,0.589168012931,-0.00114400509633,1.03969223899
+270,4.500000000,pose2_to_pose3_retreat,0.618594913256,-0.00981821023514,1.04002048329,0.589166059635,-0.00114397108495,1.03969219211
+271,4.516666667,pose2_to_pose3_retreat,0.618588839618,-0.00981827643098,1.04002053535,0.58915998493,-0.00114404101926,1.03969224168
+272,4.533333333,pose2_to_pose3_retreat,0.618576892433,-0.0098182370831,1.04002067834,0.5891480386,-0.00114399885263,1.03969238117
+273,4.550000000,pose2_to_pose3_retreat,0.618555781919,-0.00981826492245,1.04002064393,0.589126928923,-0.00114402363361,1.03969235314
+274,4.566666667,pose2_to_pose3_retreat,0.618525711071,-0.00981821185061,1.04002043155,0.589096854914,-0.00114398163136,1.03969213853
+275,4.583333333,pose2_to_pose3_retreat,0.618486153749,-0.0098182131762,1.04002042233,0.58905730016,-0.00114397438173,1.03969212824
+276,4.600000000,pose2_to_pose3_retreat,0.618438619193,-0.00981838484651,1.04002040032,0.589009767765,-0.00114413872941,1.03969211017
+277,4.616666667,pose2_to_pose3_retreat,0.618382810678,-0.0098182203102,1.04002046781,0.588953956648,-0.00114398342908,1.03969217195
+278,4.633333333,pose2_to_pose3_retreat,0.618320335792,-0.00981826129064,1.04002067685,0.588891482202,-0.00114402323472,1.03969237884
+279,4.650000000,pose2_to_pose3_retreat,0.618251329639,-0.00981829315695,1.04002058372,0.588822476434,-0.00114405396168,1.03969228242
+280,4.666666667,pose2_to_pose3_retreat,0.618174093335,-0.00981829154347,1.040020838,0.588745241607,-0.00114404707521,1.039692536
+281,4.683333333,pose2_to_pose3_retreat,0.618088254043,-0.00981829449314,1.04002074971,0.588659401577,-0.0011440524234,1.03969244846
+282,4.700000000,pose2_to_pose3_retreat,0.617991063748,-0.00981828058471,1.04002050627,0.588562209651,-0.00114404389134,1.03969221142
+283,4.716666667,pose2_to_pose3_retreat,0.617880348043,-0.00981823907139,1.04002039503,0.588451493461,-0.0011440037294,1.03969211152
+284,4.733333333,pose2_to_pose3_retreat,0.617754305161,-0.00981822807146,1.04002051961,0.588325452794,-0.00114398541792,1.03969223286
+285,4.750000000,pose2_to_pose3_retreat,0.617610296729,-0.00981839069951,1.04002055631,0.588181445499,-0.00114414486727,1.0396922591
+286,4.766666667,pose2_to_pose3_retreat,0.617449128926,-0.0098182941942,1.04002053655,0.588020275616,-0.00114405540812,1.0396922434
+287,4.783333333,pose2_to_pose3_retreat,0.617272037495,-0.0098181814606,1.04002067679,0.587843183188,-0.00114394629303,1.03969238158
+288,4.800000000,pose2_to_pose3_retreat,0.617078996218,-0.00981813605643,1.04002059872,0.587650141692,-0.00114390168213,1.03969230739
+289,4.816666667,pose2_to_pose3_retreat,0.616867540464,-0.00981812853406,1.04002032344,0.587438685563,-0.00114389521572,1.03969204354
+290,4.833333333,pose2_to_pose3_retreat,0.616639000757,-0.00981814960147,1.04002063236,0.587210147056,-0.00114391288946,1.03969234111
+291,4.850000000,pose2_to_pose3_retreat,0.616393059825,-0.00981846104101,1.04002042086,0.586964209915,-0.00114421169389,1.03969212971
+292,4.866666667,pose2_to_pose3_retreat,0.616125514434,-0.00981830088187,1.04002060055,0.586696660429,-0.00114406581034,1.03969230637
+293,4.883333333,pose2_to_pose3_retreat,0.615839976958,-0.00981825788447,1.04002074871,0.58641112424,-0.00114401886987,1.03969245138
+294,4.900000000,pose2_to_pose3_retreat,0.615541786695,-0.00981823032167,1.04002079459,0.586112933903,-0.0011439918736,1.03969249783
+295,4.916666667,pose2_to_pose3_retreat,0.615229122525,-0.00981820931692,1.04002068434,0.585800269007,-0.00114397359355,1.03969238953
+296,4.933333333,pose2_to_pose3_retreat,0.614898713295,-0.00981824744355,1.04002042977,0.585469862415,-0.00114400309019,1.03969213444
+297,4.950000000,pose2_to_pose3_retreat,0.61455058807,-0.00981818371853,1.04002042396,0.585121735426,-0.00114394558235,1.03969213062
+298,4.966666667,pose2_to_pose3_retreat,0.614182621676,-0.00981822406168,1.0400204287,0.584753768918,-0.00114398667757,1.03969213397
+299,4.983333333,pose2_to_pose3_retreat,0.613786278479,-0.00981821357556,1.04002057777,0.58435742596,-0.001143975796,1.039692281
+300,5.000000000,pose2_to_pose3_retreat,0.613364955944,-0.00981828405066,1.04002057454,0.58393610422,-0.0011440439173,1.03969227783
+301,5.016666667,pose2_to_pose3_retreat,0.612918738707,-0.00981831796241,1.04002048528,0.583489887786,-0.00114407522318,1.03969219374
+302,5.033333333,pose2_to_pose3_retreat,0.612452939099,-0.00981813019441,1.04002060993,0.583024087911,-0.00114388831079,1.03969232612
+303,5.050000000,pose2_to_pose3_retreat,0.611968880886,-0.00981825017025,1.04002051825,0.582540028733,-0.00114401189816,1.03969222781
+304,5.066666667,pose2_to_pose3_retreat,0.611474020694,-0.00981824396099,1.04002040846,0.582045169644,-0.00114400176876,1.03969212196
+305,5.083333333,pose2_to_pose3_retreat,0.610968786309,-0.00981823210063,1.04002049896,0.581539935862,-0.00114398804451,1.03969220771
+306,5.100000000,pose2_to_pose3_retreat,0.610448870457,-0.00981820841996,1.04002068086,0.581020018588,-0.00114396943699,1.03969238331
+307,5.116666667,pose2_to_pose3_retreat,0.609912829801,-0.00981818423889,1.04002076407,0.580483976758,-0.00114394930401,1.03969246484
+308,5.133333333,pose2_to_pose3_retreat,0.609358029435,-0.00981816375292,1.04002063723,0.579929176855,-0.0011439271244,1.03969234128
+309,5.150000000,pose2_to_pose3_retreat,0.608782197992,-0.00981811801929,1.04002045414,0.579353343215,-0.00114388900388,1.03969215383
+310,5.166666667,pose2_to_pose3_retreat,0.608186214177,-0.00981819203494,1.04002033919,0.578757361914,-0.00114395435006,1.0396920426
+311,5.183333333,pose2_to_pose3_retreat,0.607572006542,-0.00981838088205,1.04002050674,0.57814315677,-0.00114413505355,1.03969220197
+312,5.200000000,pose2_to_pose3_retreat,0.60693958415,-0.00981834476063,1.0400205717,0.577510733749,-0.00114410099028,1.03969226881
+313,5.216666667,pose2_to_pose3_retreat,0.606285226239,-0.00981821441428,1.04002044675,0.576856374184,-0.001143975961,1.0396921517
+314,5.233333333,pose2_to_pose3_retreat,0.605614609042,-0.00981817886694,1.04002031598,0.576185756436,-0.00114394211282,1.03969202535
+315,5.250000000,pose2_to_pose3_retreat,0.604930748127,-0.00981820280555,1.04002043529,0.575501895199,-0.00114396710095,1.03969214572
+316,5.266666667,pose2_to_pose3_retreat,0.604230549372,-0.00981832333639,1.04002067336,0.574801697416,-0.00114408460087,1.03969237671
+317,5.283333333,pose2_to_pose3_retreat,0.603516870191,-0.00981835359568,1.04002048561,0.574088019804,-0.00114410971921,1.03969218403
+318,5.300000000,pose2_to_pose3_retreat,0.602807294181,-0.00981830880674,1.04002060422,0.573378442224,-0.00114407008107,1.03969230728
+319,5.316666667,pose2_to_pose3_retreat,0.602097373516,-0.00981820893483,1.04002044063,0.572668519726,-0.00114397614909,1.03969215095
+320,5.333333333,pose2_to_pose3_retreat,0.60138283405,-0.0098182476661,1.04002033115,0.571953981109,-0.00114401191998,1.03969204352
+321,5.350000000,pose2_to_pose3_retreat,0.600664580892,-0.00981832750861,1.04002044319,0.571235730139,-0.00114408446122,1.0396921523
+322,5.366666667,pose2_to_pose3_retreat,0.599938823297,-0.00981817319128,1.04002052589,0.570509971939,-0.0011439322626,1.03969223322
+323,5.383333333,pose2_to_pose3_retreat,0.599200813181,-0.0098183280628,1.04002041411,0.569771961779,-0.00114408725898,1.03969212192
+324,5.400000000,pose2_to_pose3_retreat,0.598452123599,-0.00981833473234,1.04002053173,0.569023273695,-0.00114408905209,1.03969223417
+325,5.416666667,pose2_to_pose3_retreat,0.597694377024,-0.00981830709447,1.040020658,0.568265526542,-0.00114406351488,1.03969235666
+326,5.433333333,pose2_to_pose3_retreat,0.596941581191,-0.00981828660212,1.04002062859,0.567512730042,-0.00114404528814,1.03969232714
+327,5.450000000,pose2_to_pose3_retreat,0.596202130148,-0.00981818267088,1.04002061292,0.566773277332,-0.00114394691788,1.03969231387
+328,5.466666667,pose2_to_pose3_retreat,0.595473461036,-0.0098180680526,1.04002065785,0.566044606699,-0.00114383745101,1.03969235893
+329,5.483333333,pose2_to_pose3_retreat,0.594755450862,-0.00981816470826,1.04002058972,0.565326598576,-0.00114392735791,1.0396922853
+330,5.500000000,pose2_to_pose3_retreat,0.594036925229,-0.00981821224128,1.04002052705,0.564608073467,-0.00114397252064,1.03969223823
+331,5.516666667,pose2_to_pose3_retreat,0.593316324705,-0.0098182352303,1.04002055597,0.563887472776,-0.00114399636349,1.03969225951
+332,5.533333333,pose2_to_pose3_retreat,0.592595753784,-0.00981828839249,1.040020628,0.563166901758,-0.00114404986684,1.03969233121
+333,5.550000000,pose2_to_pose3_retreat,0.591874287792,-0.00981820638588,1.04002065649,0.562445435176,-0.00114396964348,1.03969236547
+334,5.566666667,pose2_to_pose3_retreat,0.591153090923,-0.00981813240047,1.04002059834,0.561724237825,-0.00114389710937,1.03969231204
+335,5.583333333,pose2_to_pose3_retreat,0.590444333312,-0.00981828863976,1.04002051429,0.56101548096,-0.00114405087903,1.03969222643
+336,5.600000000,pose2_to_pose3_retreat,0.589747152926,-0.00981832714343,1.04002054952,0.560318301643,-0.0011440860576,1.03969225363
+337,5.616666667,pose2_to_pose3_retreat,0.589067522402,-0.00981823003099,1.0400203165,0.5596386695,-0.00114399420378,1.03969202676
+338,5.633333333,pose2_to_pose3_retreat,0.588403407202,-0.00981820612422,1.04002046941,0.55897455438,-0.00114397010948,1.03969217745
+339,5.650000000,pose2_to_pose3_retreat,0.587753876888,-0.00981824820488,1.04002037304,0.558325024837,-0.00114400939892,1.03969208562
+340,5.666666667,pose2_to_pose3_retreat,0.587118375538,-0.00981827178485,1.04002030302,0.557689523773,-0.00114403186149,1.03969201958
+341,5.683333333,pose2_to_pose3_retreat,0.586494533583,-0.00981822051966,1.04002040684,0.557065681638,-0.0011439812186,1.039692123
+342,5.700000000,pose2_to_pose3_retreat,0.585882850998,-0.0098181471231,1.04002049368,0.556453999413,-0.00114390668131,1.03969220767
+343,5.716666667,pose2_to_pose3_retreat,0.585284837608,-0.00981837986576,1.04002045777,0.555855986534,-0.00114413823543,1.03969215737
+344,5.733333333,pose2_to_pose3_retreat,0.584704610364,-0.0098182350004,1.04002030112,0.555275757065,-0.00114400044902,1.03969201314
+345,5.750000000,pose2_to_pose3_retreat,0.584141644931,-0.00981840708458,1.0400204373,0.554712794601,-0.00114416248307,1.03969214867
+346,5.766666667,pose2_to_pose3_retreat,0.583595101412,-0.00981845751776,1.04002046112,0.554166251872,-0.001144210264,1.03969217174
+347,5.783333333,pose2_to_pose3_retreat,0.583066497664,-0.00981834725309,1.04002035337,0.55363764745,-0.00114410224348,1.03969206521
+348,5.800000000,pose2_to_pose3_retreat,0.582557573447,-0.00981824275264,1.04002030127,0.553128723259,-0.00114399765558,1.0396920131
+349,5.816666667,pose2_to_pose3_retreat,0.582068652728,-0.00981823480476,1.04002041126,0.55263980101,-0.00114399491657,1.0396921225
+350,5.833333333,pose2_to_pose3_retreat,0.581602046162,-0.00981832466637,1.04002036456,0.55217319467,-0.00114408373428,1.03969208317
+351,5.850000000,pose2_to_pose3_retreat,0.581160427296,-0.00981824477948,1.04002047958,0.55173157575,-0.00114400420455,1.03969219352
+352,5.866666667,pose2_to_pose3_retreat,0.580731837079,-0.00981820271221,1.04002060012,0.551302985424,-0.00114396266106,1.03969231005
+353,5.883333333,pose2_to_pose3_retreat,0.580313886554,-0.00981813714776,1.04002056319,0.550885033656,-0.00114390147543,1.03969226889
+354,5.900000000,pose2_to_pose3_retreat,0.579911976846,-0.00981813552002,1.04002047516,0.550483123231,-0.00114390238573,1.03969217797
+355,5.916666667,pose2_to_pose3_retreat,0.579527679378,-0.00981828707472,1.04002057812,0.550098827629,-0.00114404761067,1.03969228093
+356,5.933333333,pose2_to_pose3_retreat,0.579167936907,-0.00981819738571,1.04002069122,0.54973908512,-0.00114395829778,1.03969238752
+357,5.950000000,pose2_to_pose3_retreat,0.578835557647,-0.00981809951101,1.04002044779,0.549406704843,-0.00114386350797,1.03969215415
+358,5.966666667,pose2_to_pose3_retreat,0.578534383142,-0.00981822191787,1.04002050594,0.549105531274,-0.0011439826768,1.03969221402
+359,5.983333333,pose2_to_pose3_retreat,0.578255615743,-0.00981819656452,1.04002054563,0.548826762724,-0.00114396130735,1.03969225157
+360,6.000000000,pose2_to_pose3_retreat,0.577996815811,-0.00981814209867,1.04002050453,0.548567962056,-0.00114390934831,1.03969221015
+361,6.016666667,pose2_to_pose3_retreat,0.577751259709,-0.0098181980078,1.04002043348,0.548322407396,-0.00114396026528,1.03969214174
+362,6.033333333,pose2_to_pose3_retreat,0.577515629682,-0.00981840593343,1.04002055052,0.548086779165,-0.00114416222449,1.03969225528
+363,6.050000000,pose2_to_pose3_retreat,0.577289270235,-0.00981823044717,1.04002052485,0.54786041776,-0.00114399309074,1.03969223733
+364,6.066666667,pose2_to_pose3_retreat,0.577075810563,-0.00981824852218,1.04002055583,0.547646957465,-0.00114401364472,1.03969225865
+365,6.083333333,pose2_to_pose3_retreat,0.576877845489,-0.00981831224313,1.04002073899,0.547448994479,-0.00114407040157,1.03969243871
+366,6.100000000,pose2_to_pose3_retreat,0.576700771529,-0.00981834111697,1.04002067112,0.54727192186,-0.00114409481189,1.03969236871
+367,6.116666667,pose2_to_pose3_retreat,0.576544618675,-0.00981826888009,1.04002050573,0.547115767805,-0.00114402655149,1.03969220602
+368,6.133333333,pose2_to_pose3_retreat,0.576409784408,-0.00981824813401,1.0400205298,0.546980932558,-0.0011440090812,1.03969223137
+369,6.150000000,pose2_to_pose3_retreat,0.576292607427,-0.0098183310284,1.04002066476,0.546863756071,-0.00114409040916,1.03969236336
+370,6.166666667,pose2_to_pose3_retreat,0.576191369759,-0.0098182747906,1.04002053858,0.546762517196,-0.00114403797143,1.03969224509
+371,6.183333333,pose2_to_pose3_retreat,0.576101898446,-0.00981822444353,1.04002043428,0.546673046021,-0.00114398714286,1.0396921411
+372,6.200000000,pose2_to_pose3_retreat,0.576023930913,-0.0098181691869,1.040020523,0.546595077554,-0.00114393529174,1.03969222399
+373,6.216666667,pose2_to_pose3_retreat,0.575955666004,-0.00981817308961,1.04002062581,0.54652681241,-0.00114394001347,1.03969232638
+374,6.233333333,pose2_to_pose3_retreat,0.575896661442,-0.00981823646361,1.04002065326,0.546467808368,-0.00114400166378,1.03969235262
+375,6.250000000,pose2_to_pose3_retreat,0.575847349267,-0.00981830059787,1.0400205966,0.546418496843,-0.00114406382692,1.03969228973
+376,6.266666667,pose2_to_pose3_retreat,0.575805769171,-0.00981822051323,1.04002053522,0.546376917469,-0.00114398068026,1.03969224455
+377,6.283333333,pose2_to_pose3_retreat,0.57577161285,-0.00981818789752,1.04002042369,0.546342760804,-0.0011439490699,1.03969213729
+378,6.300000000,pose2_to_pose3_retreat,0.575743694054,-0.00981820628377,1.04002050814,0.546314841454,-0.00114396968389,1.03969221251
+379,6.316666667,pose2_to_pose3_retreat,0.575721543156,-0.0098182961232,1.04002057614,0.546292690895,-0.00114405857449,1.0396922752
+380,6.333333333,pose2_to_pose3_retreat,0.575704682747,-0.00981836102792,1.04002049893,0.546275830993,-0.0011441216199,1.03969220171
+381,6.350000000,pose2_to_pose3_retreat,0.575692204674,-0.00981828226991,1.04002029522,0.546263352153,-0.00114404520109,1.03969200498
+382,6.366666667,pose2_to_pose3_retreat,0.575683668375,-0.00981820458518,1.04002047694,0.546254815552,-0.0011439684703,1.03969218857
+383,6.383333333,pose2_to_pose3_retreat,0.57567774239,-0.00981826854551,1.04002041093,0.546248890545,-0.00114402915783,1.03969212145
+384,6.400000000,pose2_to_pose3_retreat,0.575673960464,-0.00981835579565,1.04002030102,0.546245109702,-0.0011441128107,1.03969200951
+385,6.416666667,pose2_to_pose3_retreat,0.575671425035,-0.00981833609072,1.0400204702,0.546242574091,-0.00114409390603,1.03969217365
+386,6.433333333,pose2_to_pose3_retreat,0.575669830933,-0.00981831931276,1.04002058161,0.546240979825,-0.00114407778042,1.03969228245
+387,6.450000000,pose2_to_pose3_retreat,0.575669133784,-0.00981828933975,1.04002065637,0.546240282346,-0.00114404886227,1.03969235893
+388,6.466666667,pose2_to_pose3_retreat,0.575668929732,-0.00981828056681,1.04002067825,0.546240078197,-0.00114404039807,1.03969238131
+389,6.483333333,pose2_to_pose3_retreat,0.575668838626,-0.00981827664984,1.04002068802,0.546239987049,-0.00114403661896,1.0396923913
+390,6.500000000,pose2_to_pose3_retreat,0.575668655565,-0.0098182687794,1.04002070765,0.546239803901,-0.0011440290255,1.03969241138
+391,6.516666667,pose2_to_pose3_retreat,0.575668440788,-0.00981825954534,1.04002073068,0.546239589023,-0.00114402011642,1.03969243494
+392,6.533333333,pose2_to_pose3_retreat,0.575668168732,-0.00981824784867,1.04002075986,0.546239316838,-0.00114400883139,1.03969246479
+393,6.550000000,pose2_to_pose3_retreat,0.575667768745,-0.00981824996066,1.04002075177,0.546238916754,-0.0011440113187,1.03969245545
+394,6.566666667,pose2_to_pose3_retreat,0.575667632062,-0.00981826416953,1.04002071339,0.546238780104,-0.00114402549523,1.03969241509
+395,6.583333333,pose2_to_pose3_retreat,0.575667582954,-0.00981826927452,1.0400206996,0.546238731008,-0.0011440305886,1.03969240059
+396,6.600000000,pose2_to_pose3_retreat,0.575667573153,-0.00981827029348,1.04002069685,0.546238721208,-0.00114403160524,1.03969239769
+397,6.616666667,pose2_to_pose3_retreat,0.575667547677,-0.00981827294177,1.0400206897,0.546238695739,-0.00114403424751,1.03969239017
+398,6.633333333,pose2_to_pose3_retreat,0.57566750139,-0.00981827775351,1.0400206767,0.546238649463,-0.0011440390483,1.0396923765
+399,6.650000000,pose2_to_pose3_retreat,0.575667489834,-0.00981827895482,1.04002067346,0.54623863791,-0.00114404024687,1.03969237309
+400,6.666666667,pose2_to_pose3_retreat,0.575667442685,-0.0098182838562,1.04002066022,0.546238590772,-0.00114404513709,1.03969235917
+401,6.683333333,pose2_to_pose3_retreat,0.575667396285,-0.00981828867976,1.0400206472,0.546238544382,-0.00114404994968,1.03969234547
+402,6.700000000,pose2_to_pose3_retreat,0.57566722219,-0.00981830677779,1.04002059832,0.546238370328,-0.00114406800653,1.03969229406
+403,6.716666667,pose2_to_pose3_retreat,0.575666957219,-0.00981831050759,1.04002064951,0.546238106001,-0.00114406943619,1.0396923483
+404,6.733333333,pose2_to_pose3_retreat,0.575666870643,-0.0098182663335,1.04002062124,0.546238019011,-0.00114402659096,1.0396923221
+405,6.750000000,pose2_to_pose3_retreat,0.575666877182,-0.00981824717086,1.04002059708,0.546238025247,-0.00114400844836,1.03969229814
+406,6.766666667,pose2_to_pose3_retreat,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.0011439798086,1.03969226032

Obstacle_avoidance/cylinder_15A_10/position_06/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaef062ce1ac6e319c11fc30470b802fd0d7928f888fe314933b8745c5a60bf5
+size 26064904

Obstacle_avoidance/cylinder_15A_10/position_06/depth_03/simulation_data.csv

@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+1,0.016666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+2,0.033333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+3,0.050000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+4,0.066666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+5,0.083333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+6,0.100000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+7,0.116666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+8,0.133333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+9,0.150000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+10,0.166666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+11,0.183333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+12,0.200000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+13,0.216666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+14,0.233333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+15,0.250000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+16,0.266666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+17,0.283333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+18,0.300000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+19,0.316666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+20,0.333333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+21,0.350000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+22,0.366666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+23,0.383333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+24,0.400000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+25,0.416666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+26,0.433333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+27,0.450000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+28,0.466666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+29,0.483333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+30,0.500000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+31,0.516666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+32,0.533333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+33,0.550000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+34,0.566666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+35,0.583333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+36,0.600000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+37,0.616666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+38,0.633333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+39,0.650000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+40,0.666666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+41,0.683333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+42,0.700000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+43,0.716666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+44,0.733333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+45,0.750000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+46,0.766666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+47,0.783333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+48,0.800000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+49,0.816666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+50,0.833333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+51,0.850000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+52,0.866666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+53,0.883333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+54,0.900000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+55,0.916666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+56,0.933333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+57,0.950000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+58,0.966666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+59,0.983333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+60,1.000000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+61,1.016666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+62,1.033333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+63,1.050000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+64,1.066666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+65,1.083333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+66,1.100000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+67,1.116666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+68,1.133333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+69,1.150000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+70,1.166666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+71,1.183333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+72,1.200000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+73,1.216666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+74,1.233333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+75,1.250000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+76,1.266666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+77,1.283333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+78,1.300000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+79,1.316666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+80,1.333333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+81,1.350000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+82,1.366666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+83,1.383333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+84,1.400000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+85,1.416666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+86,1.433333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+87,1.450000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+88,1.466666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+89,1.483333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+90,1.500000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+91,1.516666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+92,1.533333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+93,1.550000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+94,1.566666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+95,1.583333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+96,1.600000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+97,1.616666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+98,1.633333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+99,1.650000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+100,1.666666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+101,1.683333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+102,1.700000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+103,1.716666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+104,1.733333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+105,1.750000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+106,1.766666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+107,1.783333333,pose1_to_pose2_press,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+108,1.800000000,pose1_to_pose2_press,0.575666914247,-0.00981822759311,1.04002056215,0.546238061841,-0.00114399047063,1.03969226316
+109,1.816666667,pose1_to_pose2_press,0.575666925093,-0.00981823192122,1.04002056346,0.54623807269,-0.00114399479461,1.03969226431
+110,1.833333333,pose1_to_pose2_press,0.575666971762,-0.00981825054575,1.04002056908,0.546238119371,-0.00114401340134,1.03969226925
+111,1.850000000,pose1_to_pose2_press,0.575666981352,-0.00981825437304,1.04002057024,0.546238128964,-0.00114401722497,1.03969227027
+112,1.866666667,pose1_to_pose2_press,0.575667007721,-0.00981826446497,1.04002057311,0.54623815534,-0.00114402730864,1.03969227277
+113,1.883333333,pose1_to_pose2_press,0.575667106852,-0.0098182379514,1.04002053889,0.54623825439,-0.00114400103222,1.03969223952
+114,1.900000000,pose1_to_pose2_press,0.575667308118,-0.00981818412048,1.0400204694,0.546238455492,-0.0011439476828,1.03969217199
+115,1.916666667,pose1_to_pose2_press,0.57566779873,-0.00981820582838,1.04002051341,0.546238946337,-0.00114396859577,1.03969221617
+116,1.933333333,pose1_to_pose2_press,0.575670441535,-0.00981820692468,1.04002060318,0.546241588107,-0.00114397320045,1.03969230606
+117,1.950000000,pose1_to_pose2_press,0.575676450779,-0.00981818597433,1.04002053233,0.546247598887,-0.00114394680267,1.03969224128
+118,1.966666667,pose1_to_pose2_press,0.575690472874,-0.00981832179969,1.04002053018,0.546261621292,-0.00114408158913,1.03969223883
+119,1.983333333,pose1_to_pose2_press,0.575713328574,-0.00981822566765,1.04002058962,0.546284475937,-0.0011439895169,1.03969228542
+120,2.000000000,pose1_to_pose2_press,0.57574695708,-0.00981825049768,1.04002053725,0.54631810477,-0.00114401316085,1.03969223505
+121,2.016666667,pose1_to_pose2_press,0.575790507036,-0.00981830658391,1.04002049921,0.546361655402,-0.00114406669599,1.03969220379
+122,2.033333333,pose1_to_pose2_press,0.575844662484,-0.00981835395442,1.04002046086,0.546415811664,-0.00114411139902,1.03969216281
+123,2.050000000,pose1_to_pose2_press,0.57590693298,-0.00981836321022,1.04002054992,0.546478080802,-0.00114412534522,1.03969224951
+124,2.066666667,pose1_to_pose2_press,0.575977137944,-0.00981837067189,1.0400207717,0.546548286672,-0.00114412959278,1.03969247494
+125,2.083333333,pose1_to_pose2_press,0.576056690708,-0.0098182889498,1.04002070751,0.546627840369,-0.00114404483127,1.03969240741
+126,2.100000000,pose1_to_pose2_press,0.576144833898,-0.00981821784746,1.04002028152,0.546715980808,-0.00114398272338,1.03969199036
+127,2.116666667,pose1_to_pose2_press,0.576242361406,-0.00981824085549,1.04002032775,0.546813508882,-0.00114400382181,1.03969203628
+128,2.133333333,pose1_to_pose2_press,0.576352000841,-0.00981819908739,1.04002048901,0.546923147324,-0.00114396551578,1.03969219511
+129,2.150000000,pose1_to_pose2_press,0.576475605925,-0.00981818239528,1.04002055608,0.547046751326,-0.00114395259253,1.03969225951
+130,2.166666667,pose1_to_pose2_press,0.576613955221,-0.00981825393438,1.04002059247,0.5471851025,-0.00114401780415,1.03969229473
+131,2.183333333,pose1_to_pose2_press,0.57676744598,-0.00981827095417,1.04002057913,0.547338595368,-0.00114402745927,1.03969228686
+132,2.200000000,pose1_to_pose2_press,0.576941255275,-0.00981821460941,1.04002026736,0.547512402473,-0.0011439783145,1.0396919811
+133,2.216666667,pose1_to_pose2_press,0.577134034494,-0.00981842830715,1.04002029852,0.547705184256,-0.00114418349052,1.0396920075
+134,2.233333333,pose1_to_pose2_press,0.577345959171,-0.0098181130135,1.04002055691,0.5479171061,-0.00114387812652,1.03969225748
+135,2.250000000,pose1_to_pose2_press,0.577577260491,-0.00981812353507,1.04002042759,0.548148406687,-0.00114389085004,1.0396921357
+136,2.266666667,pose1_to_pose2_press,0.577828620646,-0.00981832935657,1.04002041574,0.548399768763,-0.00114409024102,1.03969212141
+137,2.283333333,pose1_to_pose2_press,0.578100990517,-0.00981834843387,1.04002069743,0.548672139517,-0.00114410644553,1.03969239986
+138,2.300000000,pose1_to_pose2_press,0.578391015472,-0.00981826269943,1.04002070434,0.548962163473,-0.00114402393824,1.03969241097
+139,2.316666667,pose1_to_pose2_press,0.578693557558,-0.00981828879083,1.04002058156,0.549264706228,-0.0011440475892,1.03969229259
+140,2.333333333,pose1_to_pose2_press,0.579008873693,-0.00981825961029,1.04002048697,0.549580022092,-0.00114401945137,1.03969219478
+141,2.350000000,pose1_to_pose2_press,0.579338914244,-0.00981821484181,1.04002042767,0.549910061661,-0.001143978137,1.03969213215
+142,2.366666667,pose1_to_pose2_press,0.579683430932,-0.00981831748554,1.0400204349,0.55025457973,-0.00114407584144,1.03969214611
+143,2.383333333,pose1_to_pose2_press,0.580046020163,-0.00981815260337,1.04002063135,0.550617168286,-0.0011439131373,1.03969234544
+144,2.400000000,pose1_to_pose2_press,0.580442892512,-0.00981834316398,1.04002068413,0.551014042617,-0.00114409748128,1.03969238476
+145,2.416666667,pose1_to_pose2_press,0.580871238782,-0.00981823886102,1.04002060992,0.551442387135,-0.00114399927375,1.03969230653
+146,2.433333333,pose1_to_pose2_press,0.581330187049,-0.00981816438735,1.0400206388,0.551901334046,-0.00114392907373,1.03969234397
+147,2.450000000,pose1_to_pose2_press,0.581809505397,-0.00981815843029,1.04002039661,0.55238065142,-0.00114392625628,1.03969210611
+148,2.466666667,pose1_to_pose2_press,0.582305046009,-0.00981814140704,1.04002052418,0.552876192855,-0.00114390652169,1.03969223156
+149,2.483333333,pose1_to_pose2_press,0.582804662127,-0.00981819465329,1.04002066429,0.553375810614,-0.00114395421893,1.03969237115
+150,2.500000000,pose1_to_pose2_press,0.583311042411,-0.00981825637311,1.04002071105,0.55388219139,-0.00114401423521,1.0396924188
+151,2.516666667,pose1_to_pose2_press,0.58383661074,-0.00981822380972,1.04002079181,0.554407758578,-0.00114398561551,1.03969249761
+152,2.533333333,pose1_to_pose2_press,0.584386052064,-0.00981816164991,1.040020767,0.554957198971,-0.00114392675884,1.03969246896
+153,2.550000000,pose1_to_pose2_press,0.584963156849,-0.00981830338544,1.04002057028,0.555534306055,-0.00114406058061,1.03969227521
+154,2.566666667,pose1_to_pose2_press,0.585559570401,-0.00981831123894,1.04002077345,0.556130719535,-0.00114406863257,1.03969247957
+155,2.583333333,pose1_to_pose2_press,0.586169404867,-0.00981820225857,1.04002055653,0.556740551363,-0.00114396847856,1.03969226595
+156,2.600000000,pose1_to_pose2_press,0.586791229313,-0.00981831489433,1.04002012636,0.557362378027,-0.00114407332795,1.03969184267
+157,2.616666667,pose1_to_pose2_press,0.587425216447,-0.00981836518983,1.04002026424,0.557996366957,-0.00114411758304,1.03969197911
+158,2.633333333,pose1_to_pose2_press,0.588074833669,-0.00981838112654,1.04002047309,0.558645983443,-0.00114413621921,1.03969218268
+159,2.650000000,pose1_to_pose2_press,0.588741504782,-0.0098183443756,1.04002053728,0.559312653914,-0.00114410171676,1.03969224509
+160,2.666666667,pose1_to_pose2_press,0.589423877808,-0.00981828300484,1.04002053861,0.559995026612,-0.00114404144178,1.0396922468
+161,2.683333333,pose1_to_pose2_press,0.590118310937,-0.00981823131713,1.04002053912,0.560689458644,-0.00114399349615,1.0396922468
+162,2.700000000,pose1_to_pose2_press,0.59082405177,-0.00981817455631,1.04002048667,0.561395199803,-0.00114393556451,1.03969219608
+163,2.716666667,pose1_to_pose2_press,0.59153970898,-0.00981829412484,1.04002031312,0.56211085797,-0.00114405196248,1.03969202062
+164,2.733333333,pose1_to_pose2_press,0.592266717234,-0.00981835312805,1.04002043665,0.562837867657,-0.00114410622985,1.03969214071
+165,2.750000000,pose1_to_pose2_press,0.593003697675,-0.00981818703717,1.04002029709,0.56357484596,-0.00114394717984,1.03969200682
+166,2.766666667,pose1_to_pose2_press,0.593746800077,-0.00981821857385,1.0400203918,0.564317948406,-0.00114397860795,1.03969210054
+167,2.783333333,pose1_to_pose2_press,0.594496116142,-0.00981817198749,1.04002043911,0.565067263349,-0.00114393605974,1.03969214173
+168,2.800000000,pose1_to_pose2_press,0.595236535748,-0.00981810725207,1.04002050665,0.565807683575,-0.00114386912531,1.03969221189
+169,2.816666667,pose1_to_pose2_press,0.595972995207,-0.00981817511811,1.04002042224,0.566544143841,-0.00114393418212,1.03969212941
+170,2.833333333,pose1_to_pose2_press,0.596715420221,-0.00981823702219,1.04002040391,0.567286568366,-0.00114399780399,1.03969210946
+171,2.850000000,pose1_to_pose2_press,0.597460711377,-0.00981818205003,1.04002058115,0.568031857827,-0.00114394862112,1.03969228583
+172,2.866666667,pose1_to_pose2_press,0.598208912004,-0.00981815707312,1.04002056965,0.568780056936,-0.00114392871063,1.03969227648
+173,2.883333333,pose1_to_pose2_press,0.598961236933,-0.00981819150942,1.04002018337,0.569532382878,-0.00114395949133,1.03969189603
+174,2.900000000,pose1_to_pose2_press,0.599714439447,-0.00981820680743,1.04002042371,0.570285586819,-0.00114397020739,1.03969212967
+175,2.916666667,pose1_to_pose2_press,0.600465756196,-0.00981815754846,1.04002068079,0.571036904073,-0.00114391958487,1.03969237759
+176,2.933333333,pose1_to_pose2_press,0.601213302402,-0.00981819031788,1.04002036748,0.571784449771,-0.00114395371385,1.03969207389
+177,2.950000000,pose1_to_pose2_press,0.601956056934,-0.00981829364126,1.04002028736,0.572527206772,-0.00114404856423,1.03969199634
+178,2.966666667,pose1_to_pose2_press,0.602692816679,-0.00981817179213,1.04002043916,0.573263963002,-0.00114393866313,1.03969214758
+179,2.983333333,pose1_to_pose2_press,0.603419718449,-0.00981826819729,1.04002041206,0.573990866196,-0.00114403026964,1.03969211968
+180,3.000000000,pose1_to_pose2_press,0.604144268034,-0.00981838589694,1.0400204338,0.574715419083,-0.00114413703983,1.03969213435
+181,3.016666667,pose1_to_pose2_press,0.604864161165,-0.00981828066533,1.04002045147,0.575435310394,-0.00114403811506,1.03969214862
+182,3.033333333,pose1_to_pose2_press,0.605563712543,-0.00981825770352,1.04002026619,0.576134860189,-0.00114402012717,1.03969197379
+183,3.050000000,pose1_to_pose2_press,0.606254165631,-0.0098183022631,1.04002052516,0.576825313969,-0.00114406226261,1.03969223482
+184,3.066666667,pose1_to_pose2_press,0.606942287178,-0.00981811711451,1.04002055027,0.577513432704,-0.00114388681784,1.03969225574
+185,3.083333333,pose1_to_pose2_press,0.607615065673,-0.00981817687399,1.04002058261,0.5781862123,-0.00114394311756,1.0396922808
+186,3.100000000,pose1_to_pose2_press,0.608272754849,-0.00981833174037,1.04002053987,0.578843903607,-0.00114409039463,1.03969224767
+187,3.116666667,pose1_to_pose2_press,0.608908253096,-0.00981816979616,1.04002051864,0.579479399473,-0.00114393639998,1.03969222994
+188,3.133333333,pose1_to_pose2_press,0.609519902708,-0.00981805680723,1.0400205317,0.580091048515,-0.00114382542567,1.03969224087
+189,3.150000000,pose1_to_pose2_press,0.610104873597,-0.00981824043747,1.04002054672,0.580676021169,-0.00114400320262,1.0396922524
+190,3.166666667,pose1_to_pose2_press,0.610668645545,-0.00981830422665,1.04002059154,0.581239794106,-0.00114406351849,1.03969230045
+191,3.183333333,pose1_to_pose2_press,0.6112145185,-0.00981820087734,1.04002048538,0.581785666317,-0.00114396239522,1.03969220218
+192,3.200000000,pose1_to_pose2_press,0.611749688186,-0.00981815821433,1.04002035199,0.582320835207,-0.00114392243447,1.03969206908
+193,3.216666667,pose1_to_pose2_press,0.612271026876,-0.00981824004429,1.0400206236,0.58284217465,-0.00114400227353,1.03969232566
+194,3.233333333,pose1_to_pose2_press,0.612771057528,-0.00981827078289,1.04002032764,0.583342204459,-0.00114403577581,1.03969202622
+195,3.250000000,pose1_to_pose2_press,0.613247414919,-0.00981833462392,1.0400203268,0.583818562791,-0.00114409604525,1.03969202842
+196,3.266666667,pose1_to_pose2_press,0.613698853598,-0.00981821631316,1.04002030971,0.58426999917,-0.00114398497093,1.03969201544
+197,3.283333333,pose1_to_pose2_press,0.614138441908,-0.00981821787577,1.04002034676,0.584709588076,-0.00114398383043,1.03969205935
+198,3.300000000,pose1_to_pose2_press,0.614569471884,-0.00981821542663,1.04002039591,0.585140617966,-0.0011439812826,1.03969210817
+199,3.316666667,pose1_to_pose2_press,0.614987435148,-0.00981824708512,1.04002050233,0.585558581966,-0.00114401046705,1.03969220371
+200,3.333333333,pose1_to_pose2_press,0.615388160248,-0.00981826065257,1.0400206237,0.585959308772,-0.0011440179804,1.03969232123
+201,3.350000000,pose1_to_pose2_press,0.615761891778,-0.009818207213,1.04002059332,0.586333039876,-0.00114396526074,1.03969229973
+202,3.366666667,pose1_to_pose2_press,0.616106645453,-0.00981829561936,1.04002042057,0.586677792953,-0.00114405538497,1.03969212746
+203,3.383333333,pose1_to_pose2_press,0.616420061676,-0.00981831542924,1.04002035953,0.586991210655,-0.00114406929612,1.03969207992
+204,3.400000000,pose1_to_pose2_press,0.616716926421,-0.00981829083778,1.04002045565,0.587288072887,-0.00114405376917,1.03969215455
+205,3.416666667,pose1_to_pose2_press,0.617000614378,-0.0098183850605,1.04002042548,0.58757176163,-0.00114414477763,1.0396921323
+206,3.433333333,pose1_to_pose2_press,0.617273201039,-0.00981828983042,1.04002049576,0.587844347243,-0.00114405274222,1.0396922036
+207,3.450000000,pose1_to_pose2_press,0.617534890048,-0.00981827149808,1.04002055497,0.588106037068,-0.00114403154836,1.03969225952
+208,3.466666667,pose1_to_pose2_press,0.617783022059,-0.00981826275797,1.04002042923,0.588354169309,-0.00114402169758,1.03969213445
+209,3.483333333,pose1_to_pose2_press,0.618011215223,-0.009818186081,1.04002057021,0.588582361903,-0.00114394661274,1.03969227495
+210,3.500000000,pose1_to_pose2_press,0.618216368696,-0.00981827604349,1.04002074673,0.588787516639,-0.00114403219233,1.03969244821
+211,3.516666667,pose1_to_pose2_press,0.618400280818,-0.00981839292444,1.04002043714,0.588971428882,-0.00114414842881,1.03969213978
+212,3.533333333,pose1_to_pose2_press,0.618564766104,-0.00981821590171,1.04002048921,0.589135912712,-0.00114397610223,1.03969219497
+213,3.550000000,pose1_to_pose2_press,0.618710768933,-0.00981828526829,1.04002080277,0.589281916457,-0.00114404232474,1.03969250376
+214,3.566666667,pose1_to_pose2_press,0.618840996194,-0.00981803689935,1.04002070764,0.589412139151,-0.00114380948754,1.03969240686
+215,3.583333333,pose1_to_pose2_press,0.618956127962,-0.00981809676111,1.04002059862,0.589527271287,-0.00114386792906,1.03969229894
+216,3.600000000,pose1_to_pose2_press,0.619057569412,-0.00981821891685,1.04002055568,0.589628715063,-0.00114398183309,1.03969225985
+217,3.616666667,pose1_to_pose2_press,0.619145390684,-0.00981824455965,1.04002054163,0.589716537177,-0.00114400440932,1.03969224868
+218,3.633333333,pose1_to_pose2_press,0.619222635763,-0.00981822815483,1.04002054906,0.589793782771,-0.00114398612403,1.03969225451
+219,3.650000000,pose1_to_pose2_press,0.619290619459,-0.00981825350228,1.04002060766,0.589861767934,-0.00114400635768,1.03969230788
+220,3.666666667,pose1_to_pose2_press,0.6193500755,-0.00981822430414,1.04002078947,0.589921221875,-0.00114398459553,1.03969249329
+221,3.683333333,pose1_to_pose2_press,0.619402235629,-0.00981809244566,1.04002056245,0.589973381486,-0.00114385432464,1.03969227315
+222,3.700000000,pose1_to_pose2_press,0.619446915729,-0.00981808623084,1.04002045491,0.590018059569,-0.00114385489074,1.03969216107
+223,3.716666667,pose1_to_pose2_press,0.619484258541,-0.00981817452856,1.040020677,0.590055403587,-0.00114393910669,1.03969237888
+224,3.733333333,pose1_to_pose2_press,0.619514532839,-0.00981820794006,1.04002052147,0.590085679354,-0.00114396733217,1.03969222721
+225,3.750000000,pose1_to_pose2_press,0.619537822899,-0.0098181636446,1.04002049977,0.590108969476,-0.00114392278708,1.03969220705
+226,3.766666667,pose1_to_pose2_press,0.61955567568,-0.00981814349447,1.04002073798,0.590126822133,-0.00114390324388,1.03969244143
+227,3.783333333,pose1_to_pose2_press,0.619569054747,-0.00981822476953,1.04002054542,0.590140202029,-0.00114398167678,1.03969224919
+228,3.800000000,pose1_to_pose2_press,0.619578750042,-0.00981823077119,1.04002041689,0.590149896688,-0.0011439896281,1.03969212717
+229,3.816666667,pose1_to_pose2_press,0.619585195903,-0.00981823105601,1.04002038605,0.590156342613,-0.00114398952383,1.03969210027
+230,3.833333333,pose1_to_pose2_press,0.619589818257,-0.00981822842633,1.04002038826,0.590160964979,-0.00114398681851,1.03969210279
+231,3.850000000,pose1_to_pose2_press,0.619592843723,-0.00981822394803,1.04002040712,0.590163990275,-0.00114398302471,1.03969211859
+232,3.866666667,pose1_to_pose2_press,0.619594428814,-0.00981820802407,1.04002035331,0.59016557471,-0.00114396929071,1.0396920652
+233,3.883333333,pose1_to_pose2_press,0.619595297077,-0.00981819626376,1.04002030958,0.590166442486,-0.0011439591397,1.03969202215
+234,3.900000000,pose1_to_pose2_press,0.619595789952,-0.00981818958793,1.04002028476,0.590166935086,-0.0011439533774,1.03969199771
+235,3.916666667,pose1_to_pose2_press,0.619596026014,-0.00981818718882,1.04002027579,0.590167171035,-0.00114395135383,1.03969198886
+236,3.933333333,pose1_to_pose2_press,0.619596113012,-0.00981819369146,1.04002029948,0.590167258167,-0.00114395742119,1.039692012
+237,3.950000000,pose1_to_pose2_press,0.619596469893,-0.00981822036645,1.04002039669,0.590167615599,-0.0011439823106,1.03969210693
+238,3.966666667,pose1_to_pose2_press,0.619596970939,-0.00981825781695,1.04002053316,0.590168117417,-0.00114401725421,1.0396922402
+239,3.983333333,pose1_to_pose2_press,0.619597415712,-0.00981829106137,1.0400206543,0.590168562876,-0.00114404827328,1.03969235851
+240,4.000000000,pose1_to_pose2_press,0.619597595019,-0.00981830314576,1.04002067071,0.5901687423,-0.00114405997349,1.03969237486
+241,4.016666667,pose1_to_pose2_press,0.619597669631,-0.00981830790273,1.04002067086,0.590168816928,-0.00114406467627,1.03969237521
+242,4.033333333,pose1_to_pose2_press,0.619597680668,-0.00981830860636,1.04002067088,0.590168827967,-0.00114406537189,1.03969237526
+243,4.050000000,pose1_to_pose2_press,0.619597725602,-0.00981831147118,1.04002067097,0.590168872911,-0.00114406820409,1.03969237547
+244,4.066666667,pose1_to_pose2_press,0.619597783006,-0.009818315131,1.04002067108,0.590168930327,-0.00114407182222,1.03969237574
+245,4.083333333,pose1_to_pose2_press,0.619597899567,-0.00981831746411,1.04002067622,0.590169046199,-0.00114407655945,1.039692379
+246,4.100000000,pose1_to_pose2_press,0.619598013765,-0.00981831872218,1.04002068225,0.590169159581,-0.00114408067495,1.03969238275
+247,4.116666667,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159584,-0.00114408067466,1.03969238275
+248,4.133333333,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159584,-0.00114408067477,1.03969238275
+249,4.150000000,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159584,-0.00114408067473,1.03969238275
+250,4.166666667,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159584,-0.00114408067464,1.03969238275
+251,4.183333333,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159584,-0.00114408067462,1.03969238275
+252,4.200000000,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159585,-0.0011440806746,1.03969238275
+253,4.216666667,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159585,-0.00114408067461,1.03969238275
+254,4.233333333,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159585,-0.00114408067462,1.03969238275
+255,4.250000000,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159585,-0.00114408067457,1.03969238275
+256,4.266666667,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159585,-0.00114408067458,1.03969238275
+257,4.283333333,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159585,-0.00114408067457,1.03969238275
+258,4.300000000,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159585,-0.00114408067457,1.03969238275
+259,4.316666667,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159585,-0.00114408067454,1.03969238275
+260,4.333333333,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159585,-0.00114408067453,1.03969238275
+261,4.350000000,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159585,-0.00114408067454,1.03969238275
+262,4.366666667,pose2_hold,0.619598013765,-0.00981831872218,1.04002068225,0.590169159585,-0.00114408067451,1.03969238275
+263,4.383333333,pose2_to_pose3_retreat,0.619598013765,-0.00981831872218,1.04002068225,0.590169159586,-0.00114408067445,1.03969238275
+264,4.400000000,pose2_to_pose3_retreat,0.619598005384,-0.00981830662183,1.04002064735,0.590169151214,-0.00114406851965,1.03969234849
+265,4.416666667,pose2_to_pose3_retreat,0.619597971901,-0.00981825827613,1.04002050791,0.590169117768,-0.00114401995638,1.03969221161
+266,4.433333333,pose2_to_pose3_retreat,0.61959780755,-0.00981826277134,1.04002047814,0.590168953607,-0.0011440237459,1.03969218357
+267,4.450000000,pose2_to_pose3_retreat,0.619597696567,-0.00981828586759,1.04002051236,0.590168842753,-0.00114404639566,1.03969221805
+268,4.466666667,pose2_to_pose3_retreat,0.619597675557,-0.00981829023987,1.04002051883,0.590168821767,-0.00114405068341,1.03969222458
+269,4.483333333,pose2_to_pose3_retreat,0.619597628363,-0.00981830006125,1.04002053338,0.590168774628,-0.00114406031493,1.03969223924
+270,4.500000000,pose2_to_pose3_retreat,0.619597375194,-0.00981827035848,1.04002054543,0.59016852094,-0.00114403237721,1.03969225105
+271,4.516666667,pose2_to_pose3_retreat,0.619596706981,-0.00981815948704,1.0400205512,0.590167851038,-0.0011439272616,1.03969225588
+272,4.533333333,pose2_to_pose3_retreat,0.619593373985,-0.00981824299757,1.04002052336,0.59016452051,-0.00114400218479,1.03969223339
+273,4.550000000,pose2_to_pose3_retreat,0.619585653583,-0.00981814207349,1.04002063494,0.590156798965,-0.00114390517762,1.03969234375
+274,4.566666667,pose2_to_pose3_retreat,0.619571240943,-0.00981818578743,1.04002062072,0.590142387205,-0.00114394613317,1.03969232306
+275,4.583333333,pose2_to_pose3_retreat,0.619549063729,-0.00981828623371,1.04002051065,0.590120210943,-0.00114404300651,1.03969222145
+276,4.600000000,pose2_to_pose3_retreat,0.619516414553,-0.0098182410687,1.04002039514,0.590087560908,-0.00114400072476,1.03969210809
+277,4.616666667,pose2_to_pose3_retreat,0.619474540656,-0.00981823146316,1.04002035164,0.59004568755,-0.00114398944975,1.03969206224
+278,4.633333333,pose2_to_pose3_retreat,0.619423575712,-0.00981831217113,1.04002056064,0.589994721815,-0.00114407350931,1.03969226062
+279,4.650000000,pose2_to_pose3_retreat,0.619364891639,-0.00981829696525,1.04002056773,0.589936038357,-0.00114405593445,1.03969227198
+280,4.666666667,pose2_to_pose3_retreat,0.619298937995,-0.00981824585738,1.04002034828,0.589870085417,-0.00114400188998,1.03969206532
+281,4.683333333,pose2_to_pose3_retreat,0.619225591914,-0.00981820408491,1.04002051326,0.589796738797,-0.00114396238805,1.03969222618
+282,4.700000000,pose2_to_pose3_retreat,0.619143921642,-0.00981819547545,1.04002056368,0.589715066622,-0.001143960667,1.03969226829
+283,4.716666667,pose2_to_pose3_retreat,0.619051118371,-0.00981835959925,1.04002061024,0.589622264797,-0.0011441196773,1.03969232326
+284,4.733333333,pose2_to_pose3_retreat,0.618947004498,-0.00981830226667,1.04002054448,0.589518150026,-0.00114406561502,1.03969225528
+285,4.750000000,pose2_to_pose3_retreat,0.618830823808,-0.00981824026375,1.04002047472,0.589401969421,-0.0011440036726,1.03969218038
+286,4.766666667,pose2_to_pose3_retreat,0.618701011396,-0.00981821089127,1.04002053357,0.589272157511,-0.0011439728962,1.03969223496
+287,4.783333333,pose2_to_pose3_retreat,0.618557533777,-0.00981819850246,1.04002065504,0.58912868003,-0.00114396013363,1.03969235734
+288,4.800000000,pose2_to_pose3_retreat,0.618398533431,-0.00981814833803,1.04002051867,0.588969679201,-0.00114391141224,1.03969223095
+289,4.816666667,pose2_to_pose3_retreat,0.618222784623,-0.00981818396499,1.04002053329,0.588793930222,-0.00114394794708,1.03969224238
+290,4.833333333,pose2_to_pose3_retreat,0.618026980945,-0.00981820179197,1.04002056698,0.588598126668,-0.00114396582395,1.03969226878
+291,4.850000000,pose2_to_pose3_retreat,0.617811680827,-0.0098182326325,1.04002050501,0.588382826463,-0.00114399726057,1.03969220496
+292,4.866666667,pose2_to_pose3_retreat,0.617576907075,-0.00981830753848,1.04002043675,0.588148054119,-0.00114406756254,1.03969213877
+293,4.883333333,pose2_to_pose3_retreat,0.617322486201,-0.0098183719896,1.04002046088,0.587893634914,-0.00114412653793,1.03969216515
+294,4.900000000,pose2_to_pose3_retreat,0.617048885815,-0.0098183232274,1.04002056754,0.587620033006,-0.0011440832226,1.0396922727
+295,4.916666667,pose2_to_pose3_retreat,0.616753400876,-0.00981825099294,1.04002068463,0.587324548328,-0.00114401050731,1.03969238639
+296,4.933333333,pose2_to_pose3_retreat,0.616440413841,-0.00981812302844,1.0400204373,0.587011559688,-0.00114388792806,1.03969214897
+297,4.950000000,pose2_to_pose3_retreat,0.616112552054,-0.00981821633516,1.04002051915,0.586683698453,-0.00114398002878,1.03969222297
+298,4.966666667,pose2_to_pose3_retreat,0.615768903767,-0.00981825614878,1.04002069128,0.586340051203,-0.00114401678545,1.03969239335
+299,4.983333333,pose2_to_pose3_retreat,0.615409716409,-0.00981827318351,1.0400206833,0.585980864629,-0.00114403121662,1.03969239291
+300,5.000000000,pose2_to_pose3_retreat,0.615034359155,-0.00981827955448,1.04002049543,0.585605507357,-0.00114403765196,1.03969221309
+301,5.016666667,pose2_to_pose3_retreat,0.614638034114,-0.00981811948055,1.04002052434,0.585209180766,-0.00114388352965,1.03969223471
+302,5.033333333,pose2_to_pose3_retreat,0.614211839335,-0.0098180977406,1.04002057045,0.584782984038,-0.00114386918456,1.0396922698
+303,5.050000000,pose2_to_pose3_retreat,0.613758508039,-0.0098182324234,1.04002066613,0.584329655764,-0.00114399404456,1.03969236459
+304,5.066666667,pose2_to_pose3_retreat,0.613278293238,-0.00981830785886,1.0400205974,0.583849441702,-0.0011440671192,1.03969230169
+305,5.083333333,pose2_to_pose3_retreat,0.612780410196,-0.00981825860811,1.04002054649,0.583351557856,-0.00114402091223,1.03969225097
+306,5.100000000,pose2_to_pose3_retreat,0.612268603761,-0.00981819059515,1.04002058865,0.582839750821,-0.00114395517634,1.03969229249
+307,5.116666667,pose2_to_pose3_retreat,0.611748246658,-0.00981822402395,1.04002057076,0.582319393904,-0.00114398773923,1.03969228224
+308,5.133333333,pose2_to_pose3_retreat,0.611215916161,-0.00981832329914,1.04002026857,0.581787065305,-0.00114408043537,1.03969198228
+309,5.150000000,pose2_to_pose3_retreat,0.610664525519,-0.00981829189625,1.04002048641,0.581235674949,-0.00114404819669,1.03969219672
+310,5.166666667,pose2_to_pose3_retreat,0.610093992806,-0.00981830706846,1.04002043266,0.580665142267,-0.00114406319741,1.03969214488
+311,5.183333333,pose2_to_pose3_retreat,0.609505314644,-0.0098182172501,1.04002040934,0.580076462656,-0.00114397842319,1.03969211811
+312,5.200000000,pose2_to_pose3_retreat,0.608897769576,-0.00981820963073,1.0400204863,0.579468917384,-0.00114397180641,1.0396921869
+313,5.216666667,pose2_to_pose3_retreat,0.608275650784,-0.00981830363437,1.04002061008,0.57884679965,-0.00114406245808,1.03969230438
+314,5.233333333,pose2_to_pose3_retreat,0.607640208846,-0.00981809451476,1.0400207021,0.578211354296,-0.00114386484783,1.03969239845
+315,5.250000000,pose2_to_pose3_retreat,0.606982465893,-0.00981822097133,1.04002054843,0.57755361388,-0.00114398222645,1.03969225718
+316,5.266666667,pose2_to_pose3_retreat,0.606296549072,-0.00981824465221,1.04002074284,0.576867697819,-0.00114400349238,1.03969244721
+317,5.283333333,pose2_to_pose3_retreat,0.6055956008,-0.00981827702259,1.04002064471,0.576166749593,-0.00114403583024,1.03969234575
+318,5.300000000,pose2_to_pose3_retreat,0.604882744671,-0.00981830928053,1.04002041069,0.575453893314,-0.00114406844432,1.03969211571
+319,5.316666667,pose2_to_pose3_retreat,0.604154837067,-0.00981828821937,1.04002040216,0.57472598521,-0.00114404907043,1.03969210745
+320,5.333333333,pose2_to_pose3_retreat,0.603424849093,-0.00981825050469,1.04002053012,0.573995996577,-0.00114401372034,1.03969223192
+321,5.350000000,pose2_to_pose3_retreat,0.60270636162,-0.00981827827108,1.04002043055,0.573277509091,-0.00114404133615,1.03969213738
+322,5.366666667,pose2_to_pose3_retreat,0.60198011123,-0.00981825745958,1.04002053,0.572551259861,-0.00114401662541,1.03969223587
+323,5.383333333,pose2_to_pose3_retreat,0.601241829676,-0.00981819523935,1.04002052692,0.571812976679,-0.00114395981737,1.03969223565
+324,5.400000000,pose2_to_pose3_retreat,0.60049842396,-0.00981823132598,1.04002065552,0.571069573076,-0.0011439890868,1.03969235492
+325,5.416666667,pose2_to_pose3_retreat,0.599746377764,-0.00981817083765,1.04002083785,0.570317526463,-0.00114393009255,1.03969253503
+326,5.433333333,pose2_to_pose3_retreat,0.598983590643,-0.0098181642399,1.04002072458,0.569554738084,-0.00114392761161,1.03969242583
+327,5.450000000,pose2_to_pose3_retreat,0.598217689432,-0.00981825420486,1.04002050539,0.568788837287,-0.00114401605675,1.03969220959
+328,5.466666667,pose2_to_pose3_retreat,0.597451201497,-0.0098182817979,1.04002069504,0.568022350585,-0.00114403950185,1.03969239821
+329,5.483333333,pose2_to_pose3_retreat,0.596694733929,-0.00981828840066,1.04002079147,0.56726588291,-0.00114404653057,1.03969249301
+330,5.500000000,pose2_to_pose3_retreat,0.595948941505,-0.00981817582267,1.04002034259,0.566520088702,-0.00114393957903,1.03969205527
+331,5.516666667,pose2_to_pose3_retreat,0.595209650439,-0.00981828137173,1.04002037367,0.56578079989,-0.0011440375714,1.03969208394
+332,5.533333333,pose2_to_pose3_retreat,0.594478170334,-0.00981831038629,1.04002048473,0.565049320037,-0.00114406580795,1.03969219292
+333,5.550000000,pose2_to_pose3_retreat,0.59375541207,-0.0098183394766,1.040020554,0.56432656158,-0.00114409568321,1.03969225867
+334,5.566666667,pose2_to_pose3_retreat,0.593032687548,-0.00981836074583,1.04002056709,0.563603837408,-0.00114411590569,1.03969226806
+335,5.583333333,pose2_to_pose3_retreat,0.592306503198,-0.00981819591356,1.04002056781,0.562877652059,-0.00114395429715,1.0396922731
+336,5.600000000,pose2_to_pose3_retreat,0.591574935897,-0.00981828398496,1.04002078274,0.562146085634,-0.00114403946153,1.03969248633
+337,5.616666667,pose2_to_pose3_retreat,0.590841242998,-0.00981831583537,1.04002047181,0.56141239169,-0.00114407465847,1.03969218059
+338,5.633333333,pose2_to_pose3_retreat,0.590119439661,-0.00981827767431,1.04002050627,0.560690588953,-0.0011440344759,1.0396922146
+339,5.650000000,pose2_to_pose3_retreat,0.589416251167,-0.00981838352968,1.04002044905,0.559987401187,-0.00114413768618,1.03969216197
+340,5.666666667,pose2_to_pose3_retreat,0.58873968923,-0.00981840982784,1.04002045339,0.55931083894,-0.00114416510737,1.03969216438
+341,5.683333333,pose2_to_pose3_retreat,0.588084616439,-0.00981825392845,1.04002058313,0.558655764912,-0.00114401362821,1.0396922883
+342,5.700000000,pose2_to_pose3_retreat,0.587446505273,-0.00981808803672,1.04002062522,0.558017652546,-0.00114385160492,1.03969233573
+343,5.716666667,pose2_to_pose3_retreat,0.586811977393,-0.00981826491406,1.04002043087,0.557383124909,-0.00114402774809,1.039692139
+344,5.733333333,pose2_to_pose3_retreat,0.586182355908,-0.00981833378633,1.04002042169,0.556753505802,-0.0011440885766,1.03969212918
+345,5.750000000,pose2_to_pose3_retreat,0.58556713343,-0.00981820156883,1.04002040426,0.556138281585,-0.00114396209685,1.0396921159
+346,5.766666667,pose2_to_pose3_retreat,0.584971073345,-0.00981819617844,1.04002047321,0.555542220402,-0.00114396048429,1.0396921835
+347,5.783333333,pose2_to_pose3_retreat,0.584395930135,-0.00981828198506,1.0400204976,0.554967077926,-0.00114404394766,1.039692204
+348,5.800000000,pose2_to_pose3_retreat,0.583842806444,-0.00981833081083,1.04002042973,0.554413955266,-0.00114408932733,1.03969213472
+349,5.816666667,pose2_to_pose3_retreat,0.583307163956,-0.00981833284352,1.04002043889,0.553878312451,-0.00114409246818,1.03969214397
+350,5.833333333,pose2_to_pose3_retreat,0.582785460211,-0.00981824676059,1.04002053747,0.553356608629,-0.00114400664376,1.03969224268
+351,5.850000000,pose2_to_pose3_retreat,0.582281682862,-0.00981821118569,1.04002036622,0.552852830404,-0.00114397412909,1.03969206899
+352,5.866666667,pose2_to_pose3_retreat,0.581802333198,-0.00981818861129,1.04002043666,0.552373480449,-0.00114395221779,1.03969214805
+353,5.883333333,pose2_to_pose3_retreat,0.581346616504,-0.00981817573946,1.04002057171,0.55191776369,-0.00114393952177,1.03969228426
+354,5.900000000,pose2_to_pose3_retreat,0.580912659486,-0.00981822691454,1.04002061171,0.551483807413,-0.00114398831779,1.03969232072
+355,5.916666667,pose2_to_pose3_retreat,0.580490294954,-0.00981833254315,1.0400205392,0.551061444283,-0.00114408918264,1.03969224846
+356,5.933333333,pose2_to_pose3_retreat,0.580079110292,-0.00981830067896,1.04002053572,0.550650258959,-0.00114405963602,1.03969224298
+357,5.950000000,pose2_to_pose3_retreat,0.579684342002,-0.00981832137123,1.04002056142,0.550255490348,-0.00114408165815,1.03969226236
+358,5.966666667,pose2_to_pose3_retreat,0.579311378117,-0.0098182879506,1.04002025085,0.549882527001,-0.00114404620789,1.0396919572
+359,5.983333333,pose2_to_pose3_retreat,0.578966694231,-0.00981815115085,1.04002044025,0.549537840154,-0.00114391949057,1.03969214568
+360,6.000000000,pose2_to_pose3_retreat,0.5786517237,-0.00981818206873,1.04002041396,0.549222870367,-0.00114394781316,1.03969212146
+361,6.016666667,pose2_to_pose3_retreat,0.578364979257,-0.00981828322167,1.04002028704,0.548936127891,-0.00114404218395,1.03969199757
+362,6.033333333,pose2_to_pose3_retreat,0.578097550159,-0.00981831842193,1.04002030327,0.548668698986,-0.00114407672963,1.03969201385
+363,6.050000000,pose2_to_pose3_retreat,0.57784461022,-0.00981827416828,1.04002041228,0.548415759132,-0.00114403229446,1.0396921198
+364,6.066666667,pose2_to_pose3_retreat,0.577602020252,-0.00981820006317,1.04002034203,0.548173168059,-0.00114396210683,1.03969204545
+365,6.083333333,pose2_to_pose3_retreat,0.577370279786,-0.00981819754309,1.04002056168,0.547941427482,-0.00114395993986,1.03969226549
+366,6.100000000,pose2_to_pose3_retreat,0.57715110298,-0.00981831548788,1.04002068418,0.547722251112,-0.00114407651976,1.03969238486
+367,6.116666667,pose2_to_pose3_retreat,0.576948531811,-0.00981840101492,1.04002052774,0.547519680583,-0.00114416006062,1.03969222362
+368,6.133333333,pose2_to_pose3_retreat,0.576763921468,-0.00981835378358,1.04002044273,0.547335070105,-0.00114411323598,1.03969213999
+369,6.150000000,pose2_to_pose3_retreat,0.57660223666,-0.00981827107905,1.04002055036,0.547173384518,-0.00114403296523,1.03969225324
+370,6.166666667,pose2_to_pose3_retreat,0.576459839942,-0.00981827507115,1.04002050049,0.547030988205,-0.00114403553567,1.03969220465
+371,6.183333333,pose2_to_pose3_retreat,0.576335709238,-0.00981834897644,1.04002032769,0.546906859844,-0.00114410150978,1.03969203135
+372,6.200000000,pose2_to_pose3_retreat,0.576226711228,-0.00981808447164,1.04002047994,0.546797857219,-0.00114385225892,1.03969219429
+373,6.216666667,pose2_to_pose3_retreat,0.576132150166,-0.00981827806977,1.0400205688,0.546703299455,-0.0011440352075,1.03969226894
+374,6.233333333,pose2_to_pose3_retreat,0.576049289582,-0.00981827032888,1.04002057666,0.546620437968,-0.00114403063223,1.03969227444
+375,6.250000000,pose2_to_pose3_retreat,0.575977289451,-0.00981824820254,1.04002050743,0.546548436538,-0.00114401272918,1.03969221028
+376,6.266666667,pose2_to_pose3_retreat,0.575915552269,-0.0098183424987,1.04002041406,0.546486700503,-0.00114410295938,1.03969212147
+377,6.283333333,pose2_to_pose3_retreat,0.575862671062,-0.00981836311233,1.04002039938,0.546433819774,-0.00114412177949,1.03969211124
+378,6.300000000,pose2_to_pose3_retreat,0.575818962362,-0.00981829188149,1.04002075163,0.546390111711,-0.00114404879137,1.0396924528
+379,6.316666667,pose2_to_pose3_retreat,0.575781817206,-0.00981822517094,1.04002060546,0.546352965432,-0.00114398557822,1.03969231487
+380,6.333333333,pose2_to_pose3_retreat,0.575751287035,-0.00981825235869,1.0400205415,0.546322434492,-0.0011440154754,1.03969224825
+381,6.350000000,pose2_to_pose3_retreat,0.57572729951,-0.00981827577617,1.04002050811,0.546298447002,-0.00114403895571,1.03969221005
+382,6.366666667,pose2_to_pose3_retreat,0.575708661583,-0.00981830346235,1.04002043632,0.546279810105,-0.0011440631258,1.03969213882
+383,6.383333333,pose2_to_pose3_retreat,0.575694983115,-0.0098184559084,1.04002044285,0.546266133748,-0.00114420842267,1.03969214503
+384,6.400000000,pose2_to_pose3_retreat,0.575685169629,-0.00981823408553,1.04002041281,0.546256317157,-0.00114399691503,1.03969212088
+385,6.416666667,pose2_to_pose3_retreat,0.575678900761,-0.00981824228647,1.04002036065,0.546250048411,-0.00114400479127,1.03969206643
+386,6.433333333,pose2_to_pose3_retreat,0.575674974456,-0.00981828097209,1.04002033189,0.546246122629,-0.00114404180497,1.03969203485
+387,6.450000000,pose2_to_pose3_retreat,0.575672936625,-0.00981825769816,1.04002038174,0.54624408435,-0.00114402004922,1.03969208489
+388,6.466666667,pose2_to_pose3_retreat,0.575671652107,-0.00981824302776,1.04002041317,0.546242799549,-0.00114400633579,1.03969211644
+389,6.483333333,pose2_to_pose3_retreat,0.575670804896,-0.00981823335181,1.0400204339,0.54624195215,-0.00114399729102,1.03969213724
+390,6.500000000,pose2_to_pose3_retreat,0.575670332077,-0.00981823580556,1.04002046822,0.546241479405,-0.00114399947818,1.03969217205
+391,6.516666667,pose2_to_pose3_retreat,0.575669976721,-0.00981823993575,1.04002050063,0.546241124155,-0.00114400322788,1.03969220497
+392,6.533333333,pose2_to_pose3_retreat,0.575669713958,-0.00981824298977,1.0400205246,0.54624086147,-0.00114400600055,1.03969222931
+393,6.550000000,pose2_to_pose3_retreat,0.575669429697,-0.00981824629366,1.04002055053,0.546240577294,-0.00114400900007,1.03969225564
+394,6.566666667,pose2_to_pose3_retreat,0.575669131434,-0.00981824976028,1.04002057774,0.54624027912,-0.00114401214734,1.03969228327
+395,6.583333333,pose2_to_pose3_retreat,0.575668959238,-0.00981825176166,1.04002059345,0.546240106975,-0.00114401396435,1.03969229922
+396,6.600000000,pose2_to_pose3_retreat,0.575668872623,-0.00981825276837,1.04002060135,0.546240020386,-0.00114401487831,1.03969230724
+397,6.616666667,pose2_to_pose3_retreat,0.575668835675,-0.0098182531978,1.04002060472,0.546239983449,-0.00114401526818,1.03969231067
+398,6.633333333,pose2_to_pose3_retreat,0.57566854727,-0.00981825654984,1.04002063103,0.546239695131,-0.00114401831142,1.03969233738
+399,6.650000000,pose2_to_pose3_retreat,0.575668103423,-0.00981826370834,1.04002063932,0.546239251372,-0.00114402515734,1.03969234595
+400,6.666666667,pose2_to_pose3_retreat,0.575668075739,-0.0098182646153,1.04002063242,0.546239223684,-0.00114402608226,1.03969233898
+401,6.683333333,pose2_to_pose3_retreat,0.57566787736,-0.00981827111461,1.040020583,0.546239025272,-0.00114403271029,1.0396922891
+402,6.700000000,pose2_to_pose3_retreat,0.575667578792,-0.00981828089626,1.04002050862,0.546238726657,-0.00114404268565,1.03969221403
+403,6.716666667,pose2_to_pose3_retreat,0.575667254391,-0.00981829152428,1.0400204278,0.546238402202,-0.00114405352416,1.03969213246
+404,6.733333333,pose2_to_pose3_retreat,0.575667053076,-0.00981829089991,1.04002047165,0.546238201315,-0.0011440513561,1.03969217883
+405,6.750000000,pose2_to_pose3_retreat,0.575666981799,-0.00981829004597,1.04002049541,0.546238130229,-0.00114404980884,1.03969220375
+406,6.766666667,pose2_to_pose3_retreat,0.575666955671,-0.00981828973295,1.04002050412,0.546238104171,-0.00114404924167,1.03969221288
+407,6.783333333,pose2_to_pose3_retreat,0.575666886411,-0.00981825309919,1.04002054317,0.546238034552,-0.00114401394436,1.03969224884
+408,6.800000000,pose2_to_pose3_retreat,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+409,6.816666667,pose2_to_pose3_retreat,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980862,1.03969226032

Obstacle_avoidance/cylinder_15A_10/position_06/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4f413e0726274496e18e96ca78f109064f7e540e248a8e4a2dff1185d6939e9
+size 26056673

Obstacle_avoidance/cylinder_15A_10/position_06/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,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+1,0.016666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+2,0.033333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+3,0.050000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+4,0.066666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+5,0.083333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+6,0.100000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+7,0.116666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+8,0.133333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+9,0.150000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+10,0.166666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+11,0.183333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+12,0.200000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+13,0.216666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+14,0.233333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+15,0.250000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+16,0.266666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+17,0.283333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+18,0.300000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+19,0.316666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+20,0.333333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+21,0.350000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+22,0.366666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+23,0.383333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+24,0.400000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+25,0.416666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+26,0.433333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+27,0.450000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+28,0.466666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+29,0.483333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+30,0.500000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+31,0.516666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+32,0.533333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+33,0.550000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+34,0.566666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+35,0.583333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+36,0.600000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+37,0.616666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+38,0.633333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+39,0.650000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+40,0.666666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+41,0.683333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+42,0.700000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+43,0.716666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+44,0.733333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+45,0.750000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+46,0.766666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+47,0.783333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+48,0.800000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+49,0.816666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+50,0.833333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+51,0.850000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+52,0.866666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+53,0.883333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+54,0.900000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+55,0.916666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+56,0.933333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+57,0.950000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+58,0.966666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+59,0.983333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+60,1.000000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+61,1.016666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+62,1.033333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+63,1.050000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+64,1.066666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+65,1.083333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+66,1.100000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+67,1.116666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+68,1.133333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+69,1.150000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+70,1.166666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+71,1.183333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+72,1.200000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+73,1.216666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+74,1.233333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+75,1.250000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+76,1.266666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+77,1.283333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+78,1.300000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+79,1.316666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+80,1.333333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+81,1.350000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+82,1.366666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+83,1.383333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+84,1.400000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+85,1.416666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+86,1.433333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+87,1.450000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+88,1.466666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+89,1.483333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+90,1.500000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+91,1.516666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+92,1.533333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+93,1.550000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+94,1.566666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+95,1.583333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+96,1.600000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+97,1.616666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+98,1.633333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+99,1.650000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+100,1.666666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+101,1.683333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+102,1.700000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+103,1.716666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+104,1.733333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+105,1.750000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+106,1.766666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+107,1.783333333,pose1_to_pose2_press,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+108,1.800000000,pose1_to_pose2_press,0.575666919793,-0.00981822980601,1.04002056282,0.546238067388,-0.00114399268142,1.03969226374
+109,1.816666667,pose1_to_pose2_press,0.575666922339,-0.00981823082213,1.04002056312,0.546238069935,-0.00114399369657,1.03969226401
+110,1.833333333,pose1_to_pose2_press,0.575666933831,-0.00981823540861,1.04002056451,0.546238081431,-0.00114399827867,1.03969226523
+111,1.850000000,pose1_to_pose2_press,0.575666962326,-0.00981824678001,1.04002056794,0.546238109933,-0.0011440096392,1.03969226825
+112,1.866666667,pose1_to_pose2_press,0.575666971593,-0.0098182504785,1.04002056906,0.546238119203,-0.00114401333415,1.03969226923
+113,1.883333333,pose1_to_pose2_press,0.575667011843,-0.00981826365255,1.04002057183,0.54623815944,-0.00114402657041,1.0396922715
+114,1.900000000,pose1_to_pose2_press,0.575667471616,-0.00981817993464,1.04002044879,0.546238617318,-0.00114394922111,1.03969215006
+115,1.916666667,pose1_to_pose2_press,0.575669634478,-0.00981821898479,1.04002055704,0.546240781763,-0.00114398285288,1.03969225966
+116,1.933333333,pose1_to_pose2_press,0.57567558494,-0.00981816659436,1.04002061527,0.546246731486,-0.00114393290437,1.03969231955
+117,1.950000000,pose1_to_pose2_press,0.575686648859,-0.00981830967892,1.0400205093,0.546257797754,-0.00114406779934,1.03969221922
+118,1.966666667,pose1_to_pose2_press,0.575707188538,-0.00981832023719,1.04002050936,0.546278336537,-0.00114408158208,1.03969221438
+119,1.983333333,pose1_to_pose2_press,0.575737621362,-0.00981822131057,1.04002068161,0.546308768687,-0.00114398528178,1.03969237757
+120,2.000000000,pose1_to_pose2_press,0.575778546119,-0.00981828165133,1.0400204216,0.546349694852,-0.0011440403347,1.039692131
+121,2.016666667,pose1_to_pose2_press,0.575829084598,-0.00981818540003,1.04002047937,0.546400231231,-0.00114395140341,1.03969218348
+122,2.033333333,pose1_to_pose2_press,0.575889261113,-0.00981820682844,1.04002051826,0.546460407675,-0.00114397346187,1.03969221201
+123,2.050000000,pose1_to_pose2_press,0.575957090292,-0.00981815017501,1.04002059809,0.546528237244,-0.00114391546867,1.03969229228
+124,2.066666667,pose1_to_pose2_press,0.576032731589,-0.0098182002463,1.0400204185,0.546603878558,-0.00114396528428,1.03969211788
+125,2.083333333,pose1_to_pose2_press,0.576117465043,-0.00981822011711,1.04002053037,0.546688612745,-0.00114398255477,1.03969223263
+126,2.100000000,pose1_to_pose2_press,0.57621164773,-0.00981822034076,1.04002065985,0.546782795086,-0.00114398379144,1.03969236633
+127,2.116666667,pose1_to_pose2_press,0.576317866641,-0.00981827173758,1.04002059279,0.546889013918,-0.00114403528399,1.03969230393
+128,2.133333333,pose1_to_pose2_press,0.576437024114,-0.00981832487592,1.04002049157,0.547008173123,-0.00114408253791,1.03969220289
+129,2.150000000,pose1_to_pose2_press,0.576570509528,-0.009818278225,1.04002044087,0.547141658085,-0.00114403760239,1.0396921473
+130,2.166666667,pose1_to_pose2_press,0.576721477181,-0.00981816190391,1.04002056271,0.547292623467,-0.0011439291252,1.03969226542
+131,2.183333333,pose1_to_pose2_press,0.576890009448,-0.00981814256992,1.0400206857,0.547461156942,-0.00114390579285,1.03969238559
+132,2.200000000,pose1_to_pose2_press,0.577077639803,-0.00981836483674,1.04002058149,0.547648789387,-0.00114412090298,1.0396922831
+133,2.216666667,pose1_to_pose2_press,0.577284743968,-0.00981819052839,1.04002056553,0.54785589252,-0.0011439500385,1.03969226863
+134,2.233333333,pose1_to_pose2_press,0.577513395306,-0.00981820691058,1.04002054533,0.548084543766,-0.00114396659198,1.0396922521
+135,2.250000000,pose1_to_pose2_press,0.577760853033,-0.00981818475339,1.04002047499,0.548332000465,-0.00114394801636,1.03969217923
+136,2.266666667,pose1_to_pose2_press,0.57802683886,-0.00981829927015,1.04002042395,0.548597987118,-0.0011440596303,1.0396921308
+137,2.283333333,pose1_to_pose2_press,0.578311987972,-0.00981826438,1.04002047184,0.548883135293,-0.00114402781063,1.03969218147
+138,2.300000000,pose1_to_pose2_press,0.578612632677,-0.00981819823058,1.04002050152,0.549183779189,-0.00114396464609,1.03969220485
+139,2.316666667,pose1_to_pose2_press,0.578923953348,-0.00981819154245,1.04002051081,0.549495099726,-0.00114395871042,1.03969220621
+140,2.333333333,pose1_to_pose2_press,0.579249974344,-0.00981812725113,1.04002057879,0.549821119051,-0.00114390002536,1.0396922758
+141,2.350000000,pose1_to_pose2_press,0.579595336606,-0.00981832698022,1.04002055233,0.550166483543,-0.00114409191301,1.03969225651
+142,2.366666667,pose1_to_pose2_press,0.579961050388,-0.00981847939443,1.04002067144,0.550532201391,-0.00114423057881,1.03969237444
+143,2.383333333,pose1_to_pose2_press,0.580349194046,-0.00981839365896,1.04002033132,0.550920343697,-0.00114414907372,1.03969204363
+144,2.400000000,pose1_to_pose2_press,0.580770038173,-0.00981826088886,1.04002045213,0.551341187428,-0.00114401762706,1.0396921649
+145,2.416666667,pose1_to_pose2_press,0.581218079206,-0.00981828033233,1.04002055669,0.55178922886,-0.00114403612514,1.03969225871
+146,2.433333333,pose1_to_pose2_press,0.581691040174,-0.00981831335644,1.04002049825,0.552262188669,-0.00114407320631,1.03969219693
+147,2.450000000,pose1_to_pose2_press,0.582181654673,-0.00981826830048,1.04002054624,0.552752802676,-0.00114402950822,1.03969225315
+148,2.466666667,pose1_to_pose2_press,0.582687480329,-0.00981821293287,1.04002066346,0.553258628043,-0.00114397517218,1.039692369
+149,2.483333333,pose1_to_pose2_press,0.583202833133,-0.00981820677234,1.04002072039,0.553773980096,-0.001143971704,1.03969242206
+150,2.500000000,pose1_to_pose2_press,0.5837289577,-0.00981825451965,1.04002067097,0.554300104964,-0.00114401808573,1.03969238174
+151,2.516666667,pose1_to_pose2_press,0.584277914697,-0.00981833067947,1.04002044302,0.554849063042,-0.00114409067808,1.0396921511
+152,2.533333333,pose1_to_pose2_press,0.584849149956,-0.0098182067677,1.0400206776,0.55542029868,-0.00114396560322,1.03969238248
+153,2.550000000,pose1_to_pose2_press,0.5854423472,-0.00981820710635,1.04002066571,0.556013495774,-0.00114396639865,1.03969237195
+154,2.566666667,pose1_to_pose2_press,0.586055325892,-0.00981834021722,1.04002033919,0.556626476796,-0.00114409143388,1.03969204981
+155,2.583333333,pose1_to_pose2_press,0.586685288982,-0.0098182747724,1.04002057184,0.557256439109,-0.00114402878703,1.03969227824
+156,2.600000000,pose1_to_pose2_press,0.587324825204,-0.00981815953832,1.04002041561,0.557895973007,-0.00114392139046,1.03969212328
+157,2.616666667,pose1_to_pose2_press,0.587976915242,-0.00981822073751,1.0400204541,0.558548062146,-0.0011439858375,1.03969215651
+158,2.633333333,pose1_to_pose2_press,0.588646973544,-0.00981832925808,1.0400204391,0.559218121235,-0.00114409168337,1.03969214166
+159,2.650000000,pose1_to_pose2_press,0.589329033285,-0.00981836132888,1.04002028316,0.559900182347,-0.00114411882765,1.03969199306
+160,2.666666667,pose1_to_pose2_press,0.590019616137,-0.00981833814061,1.04002035342,0.560590765819,-0.00114409351493,1.03969206385
+161,2.683333333,pose1_to_pose2_press,0.590732074988,-0.00981824774051,1.04002058941,0.561303223845,-0.00114400612806,1.03969229417
+162,2.700000000,pose1_to_pose2_press,0.591466200085,-0.00981816294727,1.04002081146,0.562037348817,-0.0011439219309,1.03969251172
+163,2.716666667,pose1_to_pose2_press,0.59220348413,-0.00981834914995,1.04002082426,0.562774632288,-0.00114411038344,1.03969251651
+164,2.733333333,pose1_to_pose2_press,0.592949511321,-0.00981828858654,1.04002046761,0.563520660725,-0.00114404532851,1.03969216686
+165,2.750000000,pose1_to_pose2_press,0.593709638273,-0.00981835560819,1.0400204526,0.564280789743,-0.00114410534466,1.03969215179
+166,2.766666667,pose1_to_pose2_press,0.59446586655,-0.00981817136425,1.04002063484,0.565037013974,-0.00114393480823,1.03969233461
+167,2.783333333,pose1_to_pose2_press,0.595217747022,-0.00981820695497,1.04002049479,0.565788894736,-0.00114396915165,1.03969220161
+168,2.800000000,pose1_to_pose2_press,0.595968937056,-0.00981828194518,1.04002026054,0.566540086449,-0.00114403825839,1.03969197231
+169,2.816666667,pose1_to_pose2_press,0.596720785473,-0.00981826813466,1.04002033682,0.567291935104,-0.00114402368007,1.03969204753
+170,2.833333333,pose1_to_pose2_press,0.597480934921,-0.00981822060212,1.04002054533,0.568052083378,-0.00114398031646,1.03969225116
+171,2.850000000,pose1_to_pose2_press,0.598242505799,-0.00981820401636,1.04002063041,0.568813652981,-0.00114396823452,1.03969233162
+172,2.866666667,pose1_to_pose2_press,0.59900121262,-0.00981815035794,1.04002078173,0.569572359013,-0.00114391728004,1.03969248227
+173,2.883333333,pose1_to_pose2_press,0.599765831793,-0.00981801236999,1.0400206676,0.570336977261,-0.00114378216371,1.03969237522
+174,2.900000000,pose1_to_pose2_press,0.600533093391,-0.00981812683594,1.04002077553,0.571104239389,-0.00114389481013,1.03969248378
+175,2.916666667,pose1_to_pose2_press,0.601298652559,-0.00981809678859,1.0400205673,0.571869797992,-0.001143866725,1.03969227433
+176,2.933333333,pose1_to_pose2_press,0.602060509524,-0.00981811716705,1.04002041673,0.572631656074,-0.00114388309797,1.03969212964
+177,2.950000000,pose1_to_pose2_press,0.602813002416,-0.00981819704964,1.04002045852,0.573384150164,-0.00114395945975,1.03969215703
+178,2.966666667,pose1_to_pose2_press,0.603558601254,-0.00981822711737,1.04002036537,0.574129749358,-0.00114398817542,1.03969206782
+179,2.983333333,pose1_to_pose2_press,0.604298258458,-0.00981813896579,1.04002051512,0.574869405754,-0.00114390271469,1.03969221892
+180,3.000000000,pose1_to_pose2_press,0.605028379084,-0.00981813533229,1.04002060957,0.575599525609,-0.00114390166243,1.03969231432
+181,3.016666667,pose1_to_pose2_press,0.605752042802,-0.00981821680841,1.04002058127,0.576323189641,-0.00114398196002,1.03969228912
+182,3.033333333,pose1_to_pose2_press,0.606468209411,-0.0098182105203,1.04002070534,0.57703935708,-0.00114397294586,1.03969241081
+183,3.050000000,pose1_to_pose2_press,0.607175601818,-0.00981817357195,1.04002069826,0.577746749676,-0.00114393533086,1.03969240455
+184,3.066666667,pose1_to_pose2_press,0.607873671093,-0.00981820095889,1.04002043302,0.578444818997,-0.00114396249737,1.03969214102
+185,3.083333333,pose1_to_pose2_press,0.608554377022,-0.00981834109838,1.04002057031,0.579125526049,-0.00114409918209,1.03969226901
+186,3.100000000,pose1_to_pose2_press,0.609216890475,-0.00981832700893,1.04002052492,0.579788038745,-0.00114408725943,1.03969223424
+187,3.116666667,pose1_to_pose2_press,0.609852862793,-0.00981834690828,1.04002052986,0.580424011131,-0.00114410694365,1.03969223895
+188,3.133333333,pose1_to_pose2_press,0.610463503965,-0.00981814023699,1.04002052022,0.581034650447,-0.00114390650613,1.03969223096
+189,3.150000000,pose1_to_pose2_press,0.611053689888,-0.00981814719529,1.04002071334,0.581624837038,-0.00114391142553,1.0396924181
+190,3.166666667,pose1_to_pose2_press,0.611625641305,-0.00981823265519,1.04002049405,0.582196789707,-0.00114399255797,1.03969220089
+191,3.183333333,pose1_to_pose2_press,0.612178761884,-0.00981828700986,1.04002023505,0.582749910734,-0.00114404525383,1.03969194412
+192,3.200000000,pose1_to_pose2_press,0.612717849095,-0.00981825865706,1.04002035969,0.58328899689,-0.00114402040941,1.03969206607
+193,3.216666667,pose1_to_pose2_press,0.613238645721,-0.00981824464067,1.04002065653,0.583809792682,-0.00114400906036,1.03969235887
+194,3.233333333,pose1_to_pose2_press,0.613735792114,-0.00981839354087,1.04002059431,0.58430694153,-0.00114414939445,1.0396922922
+195,3.250000000,pose1_to_pose2_press,0.614213145058,-0.00981824516108,1.04002073108,0.584784294475,-0.00114400078209,1.03969242325
+196,3.266666667,pose1_to_pose2_press,0.614673234088,-0.00981833777995,1.04002046075,0.585244383753,-0.0011440918188,1.03969216484
+197,3.283333333,pose1_to_pose2_press,0.615124509382,-0.00981834204514,1.04002028956,0.585695657777,-0.00114409940407,1.03969200491
+198,3.300000000,pose1_to_pose2_press,0.6155673232,-0.00981806789547,1.04002044663,0.58613846883,-0.00114383428934,1.03969215768
+199,3.316666667,pose1_to_pose2_press,0.615987926684,-0.0098180832008,1.04002043599,0.586559073527,-0.00114384492,1.03969214997
+200,3.333333333,pose1_to_pose2_press,0.616384060395,-0.00981819569071,1.04002048487,0.586955208704,-0.00114395221281,1.03969219309
+201,3.350000000,pose1_to_pose2_press,0.616749964024,-0.00981821385205,1.04002049423,0.587321110543,-0.00114397616012,1.03969220138
+202,3.366666667,pose1_to_pose2_press,0.617090131059,-0.00981820811057,1.04002050009,0.587661275571,-0.00114397681833,1.03969221224
+203,3.383333333,pose1_to_pose2_press,0.617406617591,-0.00981820562304,1.04002080734,0.587977763356,-0.00114397026752,1.03969250696
+204,3.400000000,pose1_to_pose2_press,0.617711723659,-0.0098180937757,1.04002079255,0.588282868395,-0.00114386152966,1.03969249376
+205,3.416666667,pose1_to_pose2_press,0.618006999942,-0.00981811027552,1.04002040947,0.58857814445,-0.00114387790327,1.03969212334
+206,3.433333333,pose1_to_pose2_press,0.618288808157,-0.00981823999038,1.04002042686,0.588859954591,-0.00114400102398,1.03969213269
+207,3.450000000,pose1_to_pose2_press,0.61855526527,-0.0098182576781,1.04002062616,0.589126412344,-0.00114401637287,1.03969232972
+208,3.466666667,pose1_to_pose2_press,0.618802398908,-0.0098182253184,1.040020561,0.58937354438,-0.00114398885324,1.03969227066
+209,3.483333333,pose1_to_pose2_press,0.619026320172,-0.00981814203944,1.04002056839,0.589597466024,-0.00114390438391,1.03969227036
+210,3.500000000,pose1_to_pose2_press,0.619224131566,-0.00981815680835,1.04002054941,0.5897952778,-0.00114391752576,1.0396922556
+211,3.516666667,pose1_to_pose2_press,0.619400891037,-0.00981821479334,1.04002045913,0.589972037203,-0.00114397529651,1.03969217137
+212,3.533333333,pose1_to_pose2_press,0.619557849965,-0.00981824086405,1.04002044819,0.590128996571,-0.00114399982105,1.03969215683
+213,3.550000000,pose1_to_pose2_press,0.619696003213,-0.00981824550446,1.04002051538,0.5902671507,-0.00114400158115,1.03969221779
+214,3.566666667,pose1_to_pose2_press,0.619820567039,-0.0098182889686,1.04002029233,0.590391714159,-0.00114404586905,1.03969200151
+215,3.583333333,pose1_to_pose2_press,0.619934455293,-0.00981825340772,1.04002013174,0.590505602781,-0.00114400848721,1.0396918531
+216,3.600000000,pose1_to_pose2_press,0.620038789361,-0.00981829809934,1.04002018741,0.590609935683,-0.0011440568871,1.03969191185
+217,3.616666667,pose1_to_pose2_press,0.620133634691,-0.00981827142666,1.04002041899,0.590704780039,-0.00114403387491,1.03969213161
+218,3.633333333,pose1_to_pose2_press,0.620218747754,-0.00981821507133,1.04002060043,0.590789893577,-0.00114397604647,1.03969230733
+219,3.650000000,pose1_to_pose2_press,0.620293457723,-0.00981809468307,1.04002060765,0.590864602708,-0.00114385834664,1.03969231561
+220,3.666666667,pose1_to_pose2_press,0.620356000738,-0.00981802786016,1.04002056602,0.590927143601,-0.00114379872032,1.03969226812
+221,3.683333333,pose1_to_pose2_press,0.620408703015,-0.00981818221571,1.04002060653,0.590979846742,-0.00114395010024,1.03969230418
+222,3.700000000,pose1_to_pose2_press,0.620451781078,-0.00981818935745,1.04002065065,0.591022926535,-0.0011439513064,1.03969235777
+223,3.716666667,pose1_to_pose2_press,0.620487134985,-0.00981837346418,1.04002052593,0.591058282689,-0.00114412763312,1.03969223776
+224,3.733333333,pose1_to_pose2_press,0.620515377636,-0.00981819062836,1.04002061053,0.591086522589,-0.00114395423381,1.03969232261
+225,3.750000000,pose1_to_pose2_press,0.620537657423,-0.00981814998473,1.0400206685,0.59110880319,-0.00114391108022,1.03969237361
+226,3.766666667,pose1_to_pose2_press,0.620555032617,-0.00981816169388,1.04002061599,0.591126178453,-0.001143922508,1.03969232053
+227,3.783333333,pose1_to_pose2_press,0.62056819611,-0.00981819623586,1.04002053549,0.59113934138,-0.00114395874002,1.0396922444
+228,3.800000000,pose1_to_pose2_press,0.620577908045,-0.00981826168044,1.04002050989,0.591149053884,-0.00114402214713,1.03969222109
+229,3.816666667,pose1_to_pose2_press,0.620584346763,-0.0098182884868,1.04002025841,0.591155492856,-0.00114404812098,1.03969196565
+230,3.833333333,pose1_to_pose2_press,0.620589443042,-0.00981822307252,1.04002031383,0.591160588739,-0.00114398419429,1.03969201731
+231,3.850000000,pose1_to_pose2_press,0.620593150545,-0.0098181705196,1.04002047315,0.591164295703,-0.00114393348716,1.03969217621
+232,3.866666667,pose1_to_pose2_press,0.620594930825,-0.00981820397438,1.0400205268,0.59116607582,-0.00114396729156,1.03969223348
+233,3.883333333,pose1_to_pose2_press,0.620596031276,-0.009818236599,1.04002055476,0.591167176819,-0.00114399812577,1.03969225925
+234,3.900000000,pose1_to_pose2_press,0.620597043801,-0.00981827415552,1.0400205772,0.591168190259,-0.00114403276861,1.03969227688
+235,3.916666667,pose1_to_pose2_press,0.62059729945,-0.00981828003711,1.04002054402,0.591168445786,-0.00114403907899,1.03969224387
+236,3.933333333,pose1_to_pose2_press,0.620597443724,-0.00981828221729,1.04002051301,0.591168589878,-0.00114404186949,1.0396922134
+237,3.950000000,pose1_to_pose2_press,0.620597500771,-0.00981828307935,1.04002050075,0.591168646854,-0.00114404297288,1.03969220135
+238,3.966666667,pose1_to_pose2_press,0.620597625459,-0.00981828496357,1.04002047395,0.591168771386,-0.00114404538456,1.03969217501
+239,3.983333333,pose1_to_pose2_press,0.62059766054,-0.0098182854937,1.0400204664,0.591168806423,-0.0011440460631,1.0396921676
+240,4.000000000,pose1_to_pose2_press,0.620597666574,-0.00981828558488,1.04002046511,0.59116881245,-0.00114404617981,1.03969216632
+241,4.016666667,pose1_to_pose2_press,0.620597693947,-0.00981828599852,1.04002045922,0.591168839788,-0.00114404670924,1.03969216054
+242,4.033333333,pose1_to_pose2_press,0.62059780646,-0.00981829551546,1.04002039824,0.591168952261,-0.00114405622119,1.03969210346
+243,4.050000000,pose1_to_pose2_press,0.620597944967,-0.00981832582973,1.04002026262,0.591169090955,-0.0011440855114,1.03969197781
+244,4.066666667,pose1_to_pose2_press,0.620597976683,-0.00981835263298,1.04002028015,0.591169122964,-0.00114411152337,1.03969199001
+245,4.083333333,pose1_to_pose2_press,0.620597997483,-0.00981837021122,1.04002029165,0.591169143956,-0.00114412858268,1.03969199801
+246,4.100000000,pose1_to_pose2_press,0.620597998685,-0.00981837122678,1.04002029231,0.591169145169,-0.00114412956814,1.03969199847
+247,4.116666667,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145174,-0.00114412956741,1.03969199847
+248,4.133333333,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145174,-0.00114412956738,1.03969199847
+249,4.150000000,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145174,-0.00114412956735,1.03969199847
+250,4.166666667,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145174,-0.00114412956732,1.03969199847
+251,4.183333333,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145175,-0.0011441295673,1.03969199847
+252,4.200000000,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145175,-0.00114412956727,1.03969199847
+253,4.216666667,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145175,-0.00114412956726,1.03969199847
+254,4.233333333,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145175,-0.00114412956723,1.03969199847
+255,4.250000000,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145175,-0.00114412956719,1.03969199847
+256,4.266666667,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145175,-0.00114412956716,1.03969199847
+257,4.283333333,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145176,-0.00114412956713,1.03969199847
+258,4.300000000,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145176,-0.0011441295671,1.03969199847
+259,4.316666667,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145176,-0.00114412956708,1.03969199847
+260,4.333333333,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145176,-0.00114412956705,1.03969199847
+261,4.350000000,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145176,-0.00114412956703,1.03969199847
+262,4.366666667,pose2_hold,0.620597998685,-0.00981837122678,1.04002029231,0.591169145176,-0.00114412956701,1.03969199847
+263,4.383333333,pose2_to_pose3_retreat,0.620597998685,-0.00981837122678,1.04002029231,0.591169145177,-0.0011441295669,1.03969199847
+264,4.400000000,pose2_to_pose3_retreat,0.620598000892,-0.00981825757413,1.04002037733,0.591169145764,-0.00114402130326,1.0396920863
+265,4.416666667,pose2_to_pose3_retreat,0.620597984516,-0.00981822072065,1.04002041169,0.591169128895,-0.00114398609333,1.03969212139
+266,4.433333333,pose2_to_pose3_retreat,0.620597923277,-0.00981822428148,1.04002043335,0.591169067824,-0.00114398911341,1.03969214231
+267,4.450000000,pose2_to_pose3_retreat,0.620597893741,-0.00981822599888,1.0400204438,0.591169038369,-0.00114399057001,1.0396921524
+268,4.466666667,pose2_to_pose3_retreat,0.620597817498,-0.00981823043218,1.04002047076,0.591168962335,-0.00114399433006,1.03969217845
+269,4.483333333,pose2_to_pose3_retreat,0.620597677196,-0.00981823859023,1.04002052039,0.591168822418,-0.00114400124923,1.03969222639
+270,4.500000000,pose2_to_pose3_retreat,0.620597639618,-0.00981824077526,1.04002053368,0.591168784943,-0.00114400310245,1.03969223923
+271,4.516666667,pose2_to_pose3_retreat,0.62059688312,-0.00981831202335,1.04002051806,0.591168028913,-0.00114407250102,1.03969223063
+272,4.533333333,pose2_to_pose3_retreat,0.620593619498,-0.00981839582265,1.04002058062,0.591164767914,-0.00114414794669,1.03969227841
+273,4.550000000,pose2_to_pose3_retreat,0.620585995591,-0.00981819397648,1.04002052932,0.591157141408,-0.0011439545844,1.03969223761
+274,4.566666667,pose2_to_pose3_retreat,0.620570473573,-0.00981830106262,1.04002051669,0.591141621065,-0.00114405576853,1.03969223089
+275,4.583333333,pose2_to_pose3_retreat,0.620546457696,-0.00981820275479,1.04002056225,0.591117602359,-0.00114396728534,1.03969226947
+276,4.600000000,pose2_to_pose3_retreat,0.620512930001,-0.00981824250037,1.0400206282,0.591084075618,-0.00114400433322,1.03969232971
+277,4.616666667,pose2_to_pose3_retreat,0.620470700877,-0.00981826537053,1.04002055487,0.591041846427,-0.00114402734581,1.03969225896
+278,4.633333333,pose2_to_pose3_retreat,0.620418803396,-0.0098182566559,1.04002048415,0.590989948645,-0.00114401959026,1.03969218712
+279,4.650000000,pose2_to_pose3_retreat,0.620359572122,-0.00981816770936,1.04002066445,0.590930716626,-0.00114393291286,1.03969236683
+280,4.666666667,pose2_to_pose3_retreat,0.620292975434,-0.00981810475864,1.0400207303,0.590864119569,-0.00114387156042,1.03969243368
+281,4.683333333,pose2_to_pose3_retreat,0.620217292056,-0.00981807278049,1.04002062152,0.590788435764,-0.00114384137192,1.03969232469
+282,4.700000000,pose2_to_pose3_retreat,0.620132195972,-0.0098180868972,1.04002055474,0.590703339685,-0.0011438553827,1.03969225738
+283,4.716666667,pose2_to_pose3_retreat,0.620036877105,-0.00981816639335,1.04002057282,0.590608021595,-0.00114393240767,1.03969227612
+284,4.733333333,pose2_to_pose3_retreat,0.619930320937,-0.00981816908651,1.04002067089,0.590501466537,-0.00114393137177,1.03969237361
+285,4.750000000,pose2_to_pose3_retreat,0.619811434041,-0.00981823547271,1.04002048142,0.590382580358,-0.00114399539541,1.03969218608
+286,4.766666667,pose2_to_pose3_retreat,0.619677271383,-0.00981825499548,1.04002058415,0.590248417523,-0.00114401573599,1.03969228743
+287,4.783333333,pose2_to_pose3_retreat,0.619528009797,-0.00981827703166,1.04002061632,0.590099155572,-0.00114403909127,1.03969232188
+288,4.800000000,pose2_to_pose3_retreat,0.61936439681,-0.00981827172904,1.04002053978,0.589935542582,-0.00114403386005,1.03969224849
+289,4.816666667,pose2_to_pose3_retreat,0.619186501872,-0.00981821254652,1.04002058669,0.589757648199,-0.00114397317548,1.03969229105
+290,4.833333333,pose2_to_pose3_retreat,0.618992986031,-0.00981834071672,1.04002082369,0.58956413346,-0.00114409833121,1.03969251723
+291,4.850000000,pose2_to_pose3_retreat,0.618782351489,-0.00981817389633,1.04002062062,0.589353496537,-0.00114393942934,1.03969232138
+292,4.866666667,pose2_to_pose3_retreat,0.618553037695,-0.00981818052666,1.04002047324,0.589124183587,-0.0011439432581,1.03969217883
+293,4.883333333,pose2_to_pose3_retreat,0.618301498768,-0.00981823124373,1.04002047129,0.588872646228,-0.00114398888046,1.03969217847
+294,4.900000000,pose2_to_pose3_retreat,0.618027373627,-0.00981820826833,1.04002052569,0.588598520491,-0.00114396813699,1.03969223481
+295,4.916666667,pose2_to_pose3_retreat,0.617726514413,-0.00981814131781,1.04002048414,0.588297658761,-0.00114390992207,1.03969219661
+296,4.933333333,pose2_to_pose3_retreat,0.617405132225,-0.00981820459103,1.04002042051,0.587976277653,-0.00114397010102,1.03969212797
+297,4.950000000,pose2_to_pose3_retreat,0.617065258964,-0.00981814335359,1.04002054599,0.587636404941,-0.00114390742047,1.03969225097
+298,4.966666667,pose2_to_pose3_retreat,0.616710594093,-0.00981825397733,1.04002053851,0.587281742008,-0.00114401182885,1.0396922464
+299,4.983333333,pose2_to_pose3_retreat,0.61634256491,-0.00981820711942,1.04002053347,0.586913711038,-0.00114397139379,1.03969224124
+300,5.000000000,pose2_to_pose3_retreat,0.615959223239,-0.00981808784934,1.0400205276,0.586530368806,-0.0011438543163,1.03969223673
+301,5.016666667,pose2_to_pose3_retreat,0.615558144687,-0.00981806886237,1.04002052835,0.586129291227,-0.00114383239465,1.03969223783
+302,5.033333333,pose2_to_pose3_retreat,0.615133683604,-0.00981819658835,1.04002054891,0.585704830214,-0.00114396049424,1.03969225328
+303,5.050000000,pose2_to_pose3_retreat,0.614683223378,-0.00981804927367,1.04002058221,0.58525436792,-0.00114382087978,1.0396922796
+304,5.066666667,pose2_to_pose3_retreat,0.614205199271,-0.00981803934239,1.04002042823,0.584776345711,-0.00114380453018,1.03969213692
+305,5.083333333,pose2_to_pose3_retreat,0.613703057887,-0.00981818410129,1.04002041002,0.584274206458,-0.00114394244381,1.0396921203
+306,5.100000000,pose2_to_pose3_retreat,0.613180402742,-0.00981831333357,1.04002041165,0.583751552033,-0.00114406968118,1.03969212163
+307,5.116666667,pose2_to_pose3_retreat,0.612646232596,-0.00981828513335,1.04002033667,0.583217381206,-0.00114404405832,1.03969205102
+308,5.133333333,pose2_to_pose3_retreat,0.612100575533,-0.00981824268164,1.04002036954,0.582671723875,-0.00114400287517,1.03969208642
+309,5.150000000,pose2_to_pose3_retreat,0.611540496408,-0.00981833943624,1.04002062217,0.582111645828,-0.00114409668308,1.03969233232
+310,5.166666667,pose2_to_pose3_retreat,0.610965777833,-0.00981826730992,1.04002053321,0.581536926232,-0.00114402848316,1.03969224
+311,5.183333333,pose2_to_pose3_retreat,0.610374145777,-0.00981823422669,1.04002055354,0.580945294949,-0.00114399341478,1.03969225694
+312,5.200000000,pose2_to_pose3_retreat,0.609763963104,-0.00981821160761,1.04002055182,0.580335111372,-0.00114397409273,1.03969225643
+313,5.216666667,pose2_to_pose3_retreat,0.609135895344,-0.00981830157208,1.04002055633,0.579707044359,-0.00114406198576,1.0396922591
+314,5.233333333,pose2_to_pose3_retreat,0.608485727896,-0.00981835222168,1.04002052112,0.579056877436,-0.0011441114081,1.03969222101
+315,5.250000000,pose2_to_pose3_retreat,0.607815994736,-0.00981827233073,1.04002043904,0.578387143187,-0.00114403552608,1.03969214117
+316,5.266666667,pose2_to_pose3_retreat,0.6071256439,-0.00981822473732,1.04002044695,0.577696792072,-0.00114398857106,1.0396921564
+317,5.283333333,pose2_to_pose3_retreat,0.606417126609,-0.00981827987923,1.04002082476,0.576988274791,-0.00114404089691,1.0396925227
+318,5.300000000,pose2_to_pose3_retreat,0.605694138369,-0.009818254215,1.04002061488,0.576265285859,-0.00114401761921,1.03969231241
+319,5.316666667,pose2_to_pose3_retreat,0.604958260811,-0.00981818665194,1.04002044208,0.575529407862,-0.00114395117049,1.0396921496
+320,5.333333333,pose2_to_pose3_retreat,0.604215008348,-0.00981821714074,1.04002039228,0.574786155912,-0.00114397971247,1.0396921051
+321,5.350000000,pose2_to_pose3_retreat,0.603469639051,-0.00981820986802,1.04002047486,0.574040786799,-0.0011439719632,1.03969218388
+322,5.366666667,pose2_to_pose3_retreat,0.602721559963,-0.00981822276516,1.04002054643,0.57329270809,-0.00114398369506,1.03969225226
+323,5.383333333,pose2_to_pose3_retreat,0.601972555032,-0.00981832156126,1.04002056773,0.572543704409,-0.00114407821604,1.03969227432
+324,5.400000000,pose2_to_pose3_retreat,0.601219095758,-0.0098183970263,1.04002065312,0.571790246201,-0.00114415022777,1.03969235503
+325,5.416666667,pose2_to_pose3_retreat,0.6004604762,-0.00981839252444,1.04002042338,0.571031625277,-0.00114415006488,1.03969213128
+326,5.433333333,pose2_to_pose3_retreat,0.599698289582,-0.00981831878541,1.04002063408,0.570269439655,-0.00114407313822,1.03969233743
+327,5.450000000,pose2_to_pose3_retreat,0.598926906987,-0.00981821770528,1.04002060313,0.569498053525,-0.00114398418096,1.03969230308
+328,5.466666667,pose2_to_pose3_retreat,0.598141952636,-0.00981820785742,1.04002056426,0.568713098369,-0.00114397704322,1.03969226476
+329,5.483333333,pose2_to_pose3_retreat,0.597364447856,-0.00981824025272,1.04002055572,0.567935594743,-0.00114400540093,1.03969225942
+330,5.500000000,pose2_to_pose3_retreat,0.596596535176,-0.00981824661389,1.04002054311,0.567167682506,-0.00114401012007,1.03969225034
+331,5.516666667,pose2_to_pose3_retreat,0.595840609915,-0.00981821678891,1.04002055258,0.566411757161,-0.00114398047627,1.03969226258
+332,5.533333333,pose2_to_pose3_retreat,0.595095626264,-0.00981813347739,1.04002064765,0.565666774495,-0.00114389374058,1.03969235978
+333,5.550000000,pose2_to_pose3_retreat,0.594356815017,-0.00981832712121,1.04002059785,0.564927965278,-0.00114408103369,1.03969229578
+334,5.566666667,pose2_to_pose3_retreat,0.593617050889,-0.00981833338226,1.04002048691,0.564188199823,-0.00114409173224,1.03969218649
+335,5.583333333,pose2_to_pose3_retreat,0.592875246908,-0.00981830679497,1.04002070395,0.56344639567,-0.00114406564675,1.03969240569
+336,5.600000000,pose2_to_pose3_retreat,0.592128887901,-0.00981821906398,1.04002077471,0.562700035762,-0.0011439809816,1.03969247612
+337,5.616666667,pose2_to_pose3_retreat,0.591383159077,-0.00981811773547,1.04002063455,0.561954305407,-0.00114388485815,1.03969233567
+338,5.633333333,pose2_to_pose3_retreat,0.590649864275,-0.00981816871475,1.04002075998,0.561221011857,-0.00114393154112,1.03969246239
+339,5.650000000,pose2_to_pose3_retreat,0.589931889359,-0.0098183130369,1.04002054473,0.560503037532,-0.00114407377601,1.03969224925
+340,5.666666667,pose2_to_pose3_retreat,0.589234783483,-0.00981820736201,1.04002056073,0.55980593081,-0.00114397105516,1.03969226295
+341,5.683333333,pose2_to_pose3_retreat,0.588555717182,-0.00981822607252,1.04002044807,0.559126864342,-0.00114399010014,1.03969215641
+342,5.700000000,pose2_to_pose3_retreat,0.58789375214,-0.00981830789555,1.04002048944,0.558464900709,-0.00114406713711,1.03969219798
+343,5.716666667,pose2_to_pose3_retreat,0.587242533147,-0.00981829329116,1.04002054689,0.557813681632,-0.00114405293079,1.03969225241
+344,5.733333333,pose2_to_pose3_retreat,0.586601502684,-0.00981821966016,1.04002060011,0.557172650245,-0.00114398252269,1.03969230333
+345,5.750000000,pose2_to_pose3_retreat,0.585976043326,-0.00981822388455,1.04002060227,0.556547191064,-0.00114398611559,1.03969230623
+346,5.766666667,pose2_to_pose3_retreat,0.585367202321,-0.00981830994973,1.04002031386,0.555938349831,-0.0011440728398,1.03969202083
+347,5.783333333,pose2_to_pose3_retreat,0.584776459873,-0.00981832251125,1.04002068664,0.55534760843,-0.00114408239785,1.03969237904
+348,5.800000000,pose2_to_pose3_retreat,0.584205227282,-0.00981815662066,1.04002043957,0.554776374192,-0.00114392126306,1.03969215407
+349,5.816666667,pose2_to_pose3_retreat,0.583650494678,-0.0098181782398,1.04002038508,0.554221643073,-0.00114393786162,1.03969209903
+350,5.833333333,pose2_to_pose3_retreat,0.583113837296,-0.00981819924625,1.04002039907,0.553684986216,-0.00114395718283,1.0396921105
+351,5.850000000,pose2_to_pose3_retreat,0.582596495109,-0.00981818003423,1.04002053179,0.55316764328,-0.00114394048922,1.03969224378
+352,5.866666667,pose2_to_pose3_retreat,0.582102159676,-0.00981817599048,1.04002071712,0.55267330733,-0.00114393829159,1.03969242668
+353,5.883333333,pose2_to_pose3_retreat,0.581632187027,-0.00981817352265,1.04002052828,0.55220333394,-0.00114393843001,1.03969223541
+354,5.900000000,pose2_to_pose3_retreat,0.581185187109,-0.00981819776423,1.04002029789,0.551756334971,-0.00114395921127,1.03969201142
+355,5.916666667,pose2_to_pose3_retreat,0.580748442038,-0.00981833988614,1.04002042361,0.551319592854,-0.00114409181567,1.03969212376
+356,5.933333333,pose2_to_pose3_retreat,0.580321747865,-0.00981820933817,1.04002048977,0.550892896418,-0.00114396865976,1.0396921979
+357,5.950000000,pose2_to_pose3_retreat,0.57991081997,-0.00981822112877,1.04002047601,0.55048196832,-0.00114398119112,1.03969218289
+358,5.966666667,pose2_to_pose3_retreat,0.579520938296,-0.00981829255633,1.0400204383,0.550092086804,-0.00114405223831,1.03969214104
+359,5.983333333,pose2_to_pose3_retreat,0.579160082312,-0.00981823239001,1.04002041469,0.549731229623,-0.00114399595661,1.03969212213
+360,6.000000000,pose2_to_pose3_retreat,0.57883018354,-0.00981817345814,1.04002045552,0.549401331548,-0.00114393463737,1.03969216369
+361,6.016666667,pose2_to_pose3_retreat,0.578529373472,-0.00981823092414,1.04002068185,0.549100521096,-0.00114399366761,1.03969238272
+362,6.033333333,pose2_to_pose3_retreat,0.578249848595,-0.00981822514256,1.0400206751,0.548820996508,-0.00114398683542,1.03969237793
+363,6.050000000,pose2_to_pose3_retreat,0.577987397523,-0.00981826156014,1.04002046086,0.54855854574,-0.00114402229889,1.03969216162
+364,6.066666667,pose2_to_pose3_retreat,0.577735872091,-0.00981831121251,1.04002030852,0.548307020835,-0.0011440700114,1.03969201329
+365,6.083333333,pose2_to_pose3_retreat,0.577496107747,-0.00981829400629,1.04002041113,0.548067256275,-0.0011440533753,1.03969212017
+366,6.100000000,pose2_to_pose3_retreat,0.577270108763,-0.00981820344035,1.04002062489,0.5478412558,-0.00114396805683,1.03969232902
+367,6.116666667,pose2_to_pose3_retreat,0.577059227715,-0.00981822909149,1.04002043799,0.547630374483,-0.00114399469431,1.03969214033
+368,6.133333333,pose2_to_pose3_retreat,0.57686455942,-0.00981828521604,1.04002042184,0.547435708863,-0.00114404148194,1.03969213112
+369,6.150000000,pose2_to_pose3_retreat,0.576691252374,-0.00981846739509,1.04002040634,0.547262404717,-0.00114421373771,1.03969211795
+370,6.166666667,pose2_to_pose3_retreat,0.576537187275,-0.00981821992576,1.04002062138,0.547108336134,-0.00114397821424,1.03969232962
+371,6.183333333,pose2_to_pose3_retreat,0.576402307518,-0.00981822899149,1.04002048624,0.546973456015,-0.00114398848065,1.0396921952
+372,6.200000000,pose2_to_pose3_retreat,0.576284577624,-0.00981823218311,1.04002052179,0.546855725484,-0.001143994168,1.03969222188
+373,6.216666667,pose2_to_pose3_retreat,0.576183140907,-0.00981820916369,1.04002062362,0.546754288604,-0.00114397174249,1.03969232276
+374,6.233333333,pose2_to_pose3_retreat,0.576094254136,-0.0098182543509,1.04002064016,0.546665402628,-0.00114401402131,1.03969234499
+375,6.250000000,pose2_to_pose3_retreat,0.576016660193,-0.0098184211715,1.04002058202,0.546587809337,-0.00114417896046,1.03969227856
+376,6.266666667,pose2_to_pose3_retreat,0.575949333323,-0.0098182716953,1.04002058157,0.546520481691,-0.00114403208325,1.03969227892
+377,6.283333333,pose2_to_pose3_retreat,0.57589130134,-0.00981828707359,1.04002058652,0.546462450065,-0.00114404624909,1.03969228381
+378,6.300000000,pose2_to_pose3_retreat,0.57584267621,-0.00981822715102,1.04002047584,0.546413823907,-0.00114398949755,1.03969218149
+379,6.316666667,pose2_to_pose3_retreat,0.575801221229,-0.0098182159874,1.04002046839,0.546372367713,-0.00114398240361,1.03969217525
+380,6.333333333,pose2_to_pose3_retreat,0.575766758603,-0.00981825798751,1.04002056126,0.546337905359,-0.00114402366378,1.03969226322
+381,6.350000000,pose2_to_pose3_retreat,0.575739452414,-0.00981823571235,1.04002051451,0.546310601032,-0.00114399493652,1.03969222003
+382,6.366666667,pose2_to_pose3_retreat,0.575718060704,-0.00981834338045,1.04002035089,0.54628920908,-0.001144103751,1.03969204786
+383,6.383333333,pose2_to_pose3_retreat,0.575701840128,-0.00981839058584,1.0400204359,0.54627299001,-0.00114414575449,1.03969213524
+384,6.400000000,pose2_to_pose3_retreat,0.575690211172,-0.00981823583092,1.04002051503,0.546261359105,-0.00114399744629,1.03969221881
+385,6.416666667,pose2_to_pose3_retreat,0.57568307005,-0.00981812374162,1.04002048254,0.546254216572,-0.00114389000279,1.03969219012
+386,6.433333333,pose2_to_pose3_retreat,0.575678266561,-0.00981809837382,1.0400203334,0.546249413077,-0.00114386453302,1.03969204422
+387,6.450000000,pose2_to_pose3_retreat,0.575675322711,-0.00981811626611,1.0400202907,0.546246469263,-0.00114388233679,1.03969200065
+388,6.466666667,pose2_to_pose3_retreat,0.575673494213,-0.00981815325405,1.04002030188,0.546244640817,-0.00114391924959,1.03969200907
+389,6.483333333,pose2_to_pose3_retreat,0.575672152879,-0.00981818038731,1.04002031007,0.546243299523,-0.00114394632775,1.03969201525
+390,6.500000000,pose2_to_pose3_retreat,0.575671074313,-0.00981820957654,1.04002036684,0.546242221336,-0.00114397430111,1.03969207012
+391,6.516666667,pose2_to_pose3_retreat,0.575670435997,-0.00981823413737,1.04002045004,0.546241583589,-0.00114399698438,1.03969215193
+392,6.533333333,pose2_to_pose3_retreat,0.575670205034,-0.00981824302426,1.04002048014,0.546241352832,-0.0011440051919,1.03969218153
+393,6.550000000,pose2_to_pose3_retreat,0.575670094923,-0.00981824726104,1.04002049449,0.54624124282,-0.0011440091048,1.03969219564
+394,6.566666667,pose2_to_pose3_retreat,0.575669858383,-0.00981825636253,1.04002052532,0.54624100649,-0.00114401751052,1.03969222595
+395,6.583333333,pose2_to_pose3_retreat,0.575669841605,-0.00981825700811,1.04002052751,0.546240989727,-0.00114401810675,1.0396922281
+396,6.600000000,pose2_to_pose3_retreat,0.575669659063,-0.00981826403189,1.0400205513,0.546240807348,-0.00114402459359,1.0396922515
+397,6.616666667,pose2_to_pose3_retreat,0.575669393684,-0.00981827424303,1.04002058589,0.546240542205,-0.00114403402414,1.03969228551
+398,6.633333333,pose2_to_pose3_retreat,0.575668847614,-0.00981829525444,1.04002065706,0.546239996623,-0.00114405342931,1.03969235549
+399,6.650000000,pose2_to_pose3_retreat,0.575668263724,-0.00981825972001,1.04002061543,0.546239411897,-0.00114402067975,1.03969231517
+400,6.666666667,pose2_to_pose3_retreat,0.575668247284,-0.00981825763003,1.04002061204,0.546239395408,-0.00114401875275,1.03969231187
+401,6.683333333,pose2_to_pose3_retreat,0.575668012073,-0.00981822772753,1.04002056363,0.546239159496,-0.00114399118211,1.03969226467
+402,6.700000000,pose2_to_pose3_retreat,0.575667962759,-0.00981822145826,1.04002055348,0.546239110035,-0.00114398540173,1.03969225478
+403,6.716666667,pose2_to_pose3_retreat,0.575667675925,-0.00981818499297,1.04002049444,0.546238822347,-0.00114395178008,1.03969219722
+404,6.733333333,pose2_to_pose3_retreat,0.57566722326,-0.00981821245621,1.04002056238,0.546238369964,-0.00114397838553,1.03969226251
+405,6.750000000,pose2_to_pose3_retreat,0.575667212437,-0.00981821747926,1.04002057228,0.546238359232,-0.00114398311351,1.03969227208
+406,6.766666667,pose2_to_pose3_retreat,0.57566707818,-0.00981827978759,1.04002069507,0.546238226097,-0.00114404176167,1.03969239091
+407,6.783333333,pose2_to_pose3_retreat,0.575667047232,-0.0098182779416,1.04002069012,0.546238195202,-0.00114403972649,1.03969238624
+408,6.800000000,pose2_to_pose3_retreat,0.5756670186,-0.00981826700307,1.0400206666,0.546238166501,-0.00114402898567,1.03969236367
+409,6.816666667,pose2_to_pose3_retreat,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980861,1.03969226032

Obstacle_avoidance/cylinder_15A_10/position_06/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58e684dbe49e3ca48a00f0fcfe7685c101cd1d58a628f6a929a1110493155e85
+size 26179793

Obstacle_avoidance/cylinder_15A_10/position_06/depth_05/simulation_data.csv

@@ -0,0 +1,413 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+1,0.016666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+2,0.033333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+3,0.050000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+4,0.066666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+5,0.083333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+6,0.100000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+7,0.116666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+8,0.133333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+9,0.150000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+10,0.166666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+11,0.183333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+12,0.200000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+13,0.216666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+14,0.233333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+15,0.250000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+16,0.266666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+17,0.283333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+18,0.300000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+19,0.316666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+20,0.333333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+21,0.350000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+22,0.366666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+23,0.383333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+24,0.400000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+25,0.416666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+26,0.433333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+27,0.450000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+28,0.466666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+29,0.483333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+30,0.500000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+31,0.516666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+32,0.533333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+33,0.550000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+34,0.566666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+35,0.583333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+36,0.600000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+37,0.616666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+38,0.633333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+39,0.650000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+40,0.666666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+41,0.683333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+42,0.700000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+43,0.716666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+44,0.733333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+45,0.750000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+46,0.766666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+47,0.783333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+48,0.800000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+49,0.816666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+50,0.833333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+51,0.850000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+52,0.866666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+53,0.883333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+54,0.900000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+55,0.916666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+56,0.933333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+57,0.950000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+58,0.966666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+59,0.983333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+60,1.000000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+61,1.016666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+62,1.033333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+63,1.050000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+64,1.066666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+65,1.083333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+66,1.100000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+67,1.116666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+68,1.133333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+69,1.150000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+70,1.166666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+71,1.183333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+72,1.200000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+73,1.216666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+74,1.233333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+75,1.250000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+76,1.266666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+77,1.283333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+78,1.300000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+79,1.316666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+80,1.333333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+81,1.350000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+82,1.366666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+83,1.383333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+84,1.400000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+85,1.416666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+86,1.433333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+87,1.450000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+88,1.466666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+89,1.483333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+90,1.500000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+91,1.516666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+92,1.533333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+93,1.550000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+94,1.566666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+95,1.583333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+96,1.600000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+97,1.616666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+98,1.633333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+99,1.650000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+100,1.666666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+101,1.683333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+102,1.700000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+103,1.716666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+104,1.733333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+105,1.750000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+106,1.766666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+107,1.783333333,pose1_to_pose2_press,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+108,1.800000000,pose1_to_pose2_press,0.575666895084,-0.0098182199456,1.04002055984,0.546238042673,-0.00114398283043,1.03969226113
+109,1.816666667,pose1_to_pose2_press,0.575666916891,-0.00981822864791,1.04002056247,0.546238064485,-0.00114399152442,1.03969226344
+110,1.833333333,pose1_to_pose2_press,0.575666995142,-0.00981825987612,1.0400205719,0.546238142758,-0.0011440227228,1.03969227173
+111,1.850000000,pose1_to_pose2_press,0.575667094727,-0.0098182465244,1.04002054565,0.546238241932,-0.00114401075858,1.03969224563
+112,1.866666667,pose1_to_pose2_press,0.575667162724,-0.00981823247271,1.04002052416,0.546238309608,-0.00114399778677,1.0396922244
+113,1.883333333,pose1_to_pose2_press,0.575667240034,-0.00981821649653,1.04002049974,0.546238386553,-0.00114398303838,1.03969220027
+114,1.900000000,pose1_to_pose2_press,0.575667287167,-0.00981820675653,1.04002048485,0.546238433463,-0.00114397404691,1.03969218556
+115,1.916666667,pose1_to_pose2_press,0.575668258198,-0.00981824007293,1.04002058982,0.546239406072,-0.00114400188253,1.03969229389
+116,1.933333333,pose1_to_pose2_press,0.575672830145,-0.00981823076241,1.04002039976,0.546243977738,-0.00114399359415,1.0396921021
+117,1.950000000,pose1_to_pose2_press,0.575682689717,-0.0098182038282,1.04002055066,0.546253836716,-0.00114396889675,1.03969224705
+118,1.966666667,pose1_to_pose2_press,0.575702113243,-0.00981828359353,1.04002042324,0.546273262387,-0.00114404098643,1.0396921301
+119,1.983333333,pose1_to_pose2_press,0.575731650101,-0.00981826939995,1.04002056212,0.54630279722,-0.00114403394991,1.03969226134
+120,2.000000000,pose1_to_pose2_press,0.575771825899,-0.00981822311957,1.04002040548,0.546342972022,-0.00114399089062,1.0396921088
+121,2.016666667,pose1_to_pose2_press,0.575821473081,-0.00981827045717,1.04002065363,0.546392620308,-0.00114403470338,1.039692351
+122,2.033333333,pose1_to_pose2_press,0.575880543507,-0.00981826941351,1.04002062955,0.546451690808,-0.00114403320324,1.03969233219
+123,2.050000000,pose1_to_pose2_press,0.575947639168,-0.00981822122468,1.04002053405,0.54651878717,-0.001143982705,1.0396922349
+124,2.066666667,pose1_to_pose2_press,0.576022903206,-0.00981823891863,1.04002059528,0.546594051036,-0.00114400102101,1.03969229503
+125,2.083333333,pose1_to_pose2_press,0.5761082657,-0.00981814754526,1.04002069233,0.546679412385,-0.00114391357828,1.03969239072
+126,2.100000000,pose1_to_pose2_press,0.576203455019,-0.00981811443565,1.04002055179,0.546774601969,-0.00114387930791,1.03969225712
+127,2.116666667,pose1_to_pose2_press,0.576309523055,-0.00981830250283,1.04002046941,0.546880672313,-0.0011440595024,1.03969217587
+128,2.133333333,pose1_to_pose2_press,0.576428090148,-0.00981838526419,1.04002057907,0.546999240162,-0.00114414004964,1.03969227627
+129,2.150000000,pose1_to_pose2_press,0.576561063812,-0.00981818562899,1.0400205632,0.547132211199,-0.00114394912335,1.03969226576
+130,2.166666667,pose1_to_pose2_press,0.576710789811,-0.00981839993275,1.04002059536,0.547281938446,-0.00114415939845,1.03969229242
+131,2.183333333,pose1_to_pose2_press,0.576877649256,-0.00981818684337,1.04002073089,0.547448797111,-0.00114394912922,1.03969242331
+132,2.200000000,pose1_to_pose2_press,0.577065583827,-0.00981826092976,1.04002085187,0.547636731487,-0.00114402399252,1.03969254116
+133,2.216666667,pose1_to_pose2_press,0.577273205713,-0.00981817932149,1.04002073535,0.547844353299,-0.00114394250394,1.03969242805
+134,2.233333333,pose1_to_pose2_press,0.577501532589,-0.00981837704483,1.04002034637,0.548072681286,-0.00114413579762,1.03969205652
+135,2.250000000,pose1_to_pose2_press,0.577748957974,-0.00981830746324,1.04002049694,0.548320107298,-0.0011440643235,1.03969220072
+136,2.266666667,pose1_to_pose2_press,0.578015212758,-0.00981825699384,1.04002054613,0.548586361204,-0.00114401671003,1.03969225316
+137,2.283333333,pose1_to_pose2_press,0.57830112962,-0.00981837923225,1.04002065465,0.548872278391,-0.00114413821014,1.03969235203
+138,2.300000000,pose1_to_pose2_press,0.578603613886,-0.00981839831216,1.04002072934,0.549174763433,-0.00114415486774,1.03969242103
+139,2.316666667,pose1_to_pose2_press,0.578918744828,-0.00981829059396,1.04002061206,0.54948989389,-0.00114404865714,1.03969230733
+140,2.333333333,pose1_to_pose2_press,0.579248222716,-0.00981816300269,1.04002049129,0.549819369836,-0.00114392746577,1.03969219153
+141,2.350000000,pose1_to_pose2_press,0.579595194487,-0.00981806727434,1.04002057594,0.550166339669,-0.00114383812583,1.0396922811
+142,2.366666667,pose1_to_pose2_press,0.579961202665,-0.00981812556242,1.0400206557,0.550532348521,-0.00114389418351,1.03969235934
+143,2.383333333,pose1_to_pose2_press,0.580349070186,-0.00981815674244,1.0400204392,0.550920217975,-0.00114391880501,1.03969214279
+144,2.400000000,pose1_to_pose2_press,0.580771747534,-0.00981823210215,1.04002078433,0.551342894756,-0.00114399631882,1.03969248182
+145,2.416666667,pose1_to_pose2_press,0.581224554803,-0.00981816465106,1.04002061668,0.551795701884,-0.00114392928682,1.03969231565
+146,2.433333333,pose1_to_pose2_press,0.581705137991,-0.00981827075618,1.04002032783,0.55227628648,-0.00114403009432,1.0396920406
+147,2.450000000,pose1_to_pose2_press,0.582204147525,-0.00981825974153,1.04002044476,0.552775296687,-0.00114401676312,1.03969215841
+148,2.466666667,pose1_to_pose2_press,0.582717752585,-0.00981828414832,1.04002078641,0.553288901944,-0.00114404086471,1.03969249038
+149,2.483333333,pose1_to_pose2_press,0.583237056219,-0.00981824088436,1.04002071972,0.553808205655,-0.00114399731649,1.03969242427
+150,2.500000000,pose1_to_pose2_press,0.583765160994,-0.00981820771617,1.04002048165,0.554336309656,-0.00114396656139,1.03969219177
+151,2.516666667,pose1_to_pose2_press,0.58431826183,-0.0098182598104,1.04002035161,0.55488940975,-0.00114402101004,1.03969206602
+152,2.533333333,pose1_to_pose2_press,0.58489600828,-0.00981829059913,1.04002032979,0.555467156693,-0.0011440500915,1.03969204513
+153,2.550000000,pose1_to_pose2_press,0.585497190101,-0.00981825962741,1.04002056833,0.55606833856,-0.00114401947266,1.03969227023
+154,2.566666667,pose1_to_pose2_press,0.586118362456,-0.00981836358816,1.04002058168,0.556689512354,-0.00114411848689,1.03969228524
+155,2.583333333,pose1_to_pose2_press,0.58675560541,-0.00981825096101,1.04002076075,0.55732675402,-0.00114401002143,1.03969246981
+156,2.600000000,pose1_to_pose2_press,0.58740058483,-0.0098182874611,1.04002068989,0.557971733077,-0.00114404810258,1.03969238976
+157,2.616666667,pose1_to_pose2_press,0.588057821767,-0.00981818912884,1.04002049057,0.558628969001,-0.00114395317423,1.03969219133
+158,2.633333333,pose1_to_pose2_press,0.588736908425,-0.00981827251852,1.04002063058,0.559308056269,-0.00114403464079,1.03969232739
+159,2.650000000,pose1_to_pose2_press,0.58943142187,-0.00981827254984,1.04002059585,0.56000257076,-0.00114403081628,1.0396923008
+160,2.666666667,pose1_to_pose2_press,0.590137152353,-0.00981820532123,1.04002061183,0.560708299567,-0.00114396922889,1.03969231796
+161,2.683333333,pose1_to_pose2_press,0.590861280127,-0.00981824307472,1.04002063256,0.561432427852,-0.00114400547433,1.0396923328
+162,2.700000000,pose1_to_pose2_press,0.591602187822,-0.00981832138716,1.04002050333,0.562173337321,-0.00114407760079,1.039692208
+163,2.716666667,pose1_to_pose2_press,0.592341412784,-0.00981831493689,1.04002043327,0.562912561477,-0.00114407360643,1.03969214536
+164,2.733333333,pose1_to_pose2_press,0.593088741722,-0.00981827944714,1.04002051973,0.563659890524,-0.00114403796873,1.03969222596
+165,2.750000000,pose1_to_pose2_press,0.593854690814,-0.00981818780646,1.04002043243,0.564425838195,-0.00114395105427,1.03969214118
+166,2.766666667,pose1_to_pose2_press,0.594623036508,-0.00981832673484,1.04002051588,0.565194184409,-0.0011440882185,1.03969222459
+167,2.783333333,pose1_to_pose2_press,0.595393310077,-0.00981833133484,1.04002041242,0.565964459104,-0.00114408900682,1.03969212099
+168,2.800000000,pose1_to_pose2_press,0.596164500761,-0.00981828625983,1.04002030276,0.566735648973,-0.0011440465786,1.03969201457
+169,2.816666667,pose1_to_pose2_press,0.596933971903,-0.00981837768595,1.04002039339,0.567505120781,-0.00114413599297,1.03969209864
+170,2.833333333,pose1_to_pose2_press,0.597702660378,-0.00981825605967,1.04002037314,0.568273808954,-0.00114401570466,1.03969207013
+171,2.850000000,pose1_to_pose2_press,0.59847241474,-0.0098181883404,1.04002053351,0.569043563462,-0.00114394724716,1.03969223691
+172,2.866666667,pose1_to_pose2_press,0.599245619085,-0.00981823601066,1.04002054209,0.56981676743,-0.00114399608471,1.03969224848
+173,2.883333333,pose1_to_pose2_press,0.600025784802,-0.00981829257926,1.04002047556,0.57059693303,-0.00114405309654,1.03969218087
+174,2.900000000,pose1_to_pose2_press,0.600809544738,-0.00981825325738,1.04002053742,0.571380693597,-0.00114401161273,1.03969224326
+175,2.916666667,pose1_to_pose2_press,0.601595435937,-0.00981812828077,1.0400205193,0.572166584103,-0.00114388910039,1.0396922222
+176,2.933333333,pose1_to_pose2_press,0.602375374703,-0.00981806473319,1.04002042661,0.57294652114,-0.00114383136435,1.03969213099
+177,2.950000000,pose1_to_pose2_press,0.603136390316,-0.00981815504801,1.0400204606,0.573707536848,-0.00114392147206,1.03969216202
+178,2.966666667,pose1_to_pose2_press,0.603894242701,-0.00981801222686,1.04002053745,0.574465385606,-0.0011437907595,1.03969224416
+179,2.983333333,pose1_to_pose2_press,0.604654819713,-0.00981824980903,1.04002056849,0.575225966584,-0.00114401506316,1.03969227058
+180,3.000000000,pose1_to_pose2_press,0.605405793145,-0.00981836390819,1.04002045948,0.575976943694,-0.00114411676916,1.03969215934
+181,3.016666667,pose1_to_pose2_press,0.606148822214,-0.00981828581711,1.04002062087,0.57671997087,-0.00114404497332,1.0396923242
+182,3.033333333,pose1_to_pose2_press,0.606881123865,-0.00981824589269,1.04002075361,0.577452271249,-0.00114400935603,1.03969245729
+183,3.050000000,pose1_to_pose2_press,0.60759929523,-0.0098181961872,1.04002055427,0.57817044239,-0.00114396034915,1.03969225957
+184,3.066666667,pose1_to_pose2_press,0.60830353463,-0.00981828697468,1.04002056629,0.578874683863,-0.0011440441393,1.0396922707
+185,3.083333333,pose1_to_pose2_press,0.608996692075,-0.009818319128,1.04002060642,0.579567841979,-0.00114407397,1.03969231207
+186,3.100000000,pose1_to_pose2_press,0.609680428699,-0.00981821251338,1.04002059523,0.580251576728,-0.00114397371604,1.039692301
+187,3.116666667,pose1_to_pose2_press,0.610340333441,-0.00981810871462,1.04002052409,0.580911479717,-0.0011438757666,1.03969223261
+188,3.133333333,pose1_to_pose2_press,0.610974517159,-0.00981804649569,1.04002037121,0.581545663081,-0.0011438144102,1.03969208868
+189,3.150000000,pose1_to_pose2_press,0.611583101192,-0.00981810333826,1.04002076086,0.58215424879,-0.00114386594751,1.03969246834
+190,3.166666667,pose1_to_pose2_press,0.61216756051,-0.00981824132973,1.04002066658,0.582738707746,-0.00114400528149,1.03969237105
+191,3.183333333,pose1_to_pose2_press,0.612727895844,-0.00981829380333,1.04002059159,0.583299043257,-0.0011440572282,1.03969228947
+192,3.200000000,pose1_to_pose2_press,0.613280333328,-0.0098182856348,1.04002023776,0.583851481058,-0.00114404703447,1.03969194934
+193,3.216666667,pose1_to_pose2_press,0.613820912445,-0.00981818564176,1.04002042563,0.584392059342,-0.00114394958876,1.03969213264
+194,3.233333333,pose1_to_pose2_press,0.614341403597,-0.00981822748844,1.0400206299,0.584912551624,-0.00114398735918,1.03969233186
+195,3.250000000,pose1_to_pose2_press,0.614842840098,-0.0098182679413,1.04002062991,0.585413988463,-0.00114402624194,1.03969233054
+196,3.266666667,pose1_to_pose2_press,0.615325214704,-0.00981825024912,1.0400205525,0.585896362843,-0.0011440086188,1.03969225713
+197,3.283333333,pose1_to_pose2_press,0.61579454155,-0.00981821527421,1.04002055944,0.586365689978,-0.00114397187202,1.03969227085
+198,3.300000000,pose1_to_pose2_press,0.61625099733,-0.00981808358251,1.04002063667,0.586822143303,-0.0011438482841,1.03969234401
+199,3.316666667,pose1_to_pose2_press,0.616684937266,-0.0098181229411,1.04002051986,0.587256083606,-0.00114388610647,1.03969222578
+200,3.333333333,pose1_to_pose2_press,0.617094567531,-0.0098182695654,1.0400202773,0.587665714431,-0.00114403011624,1.03969198982
+201,3.350000000,pose1_to_pose2_press,0.617473617165,-0.0098180909818,1.04002038819,0.58804476304,-0.00114385460698,1.03969209895
+202,3.366666667,pose1_to_pose2_press,0.617828072848,-0.0098182282205,1.04002043764,0.588399218328,-0.00114399307889,1.0396921408
+203,3.383333333,pose1_to_pose2_press,0.618161414738,-0.00981813821506,1.04002042058,0.588732559541,-0.00114390486827,1.03969212707
+204,3.400000000,pose1_to_pose2_press,0.61848320398,-0.00981804953444,1.04002055868,0.589054347697,-0.00114381967724,1.03969226227
+205,3.416666667,pose1_to_pose2_press,0.618794842999,-0.00981813707136,1.04002064671,0.589365986881,-0.00114390657664,1.03969234411
+206,3.433333333,pose1_to_pose2_press,0.619094956259,-0.00981826145969,1.04002050577,0.589666102096,-0.00114402370909,1.03969221046
+207,3.450000000,pose1_to_pose2_press,0.619378860588,-0.00981826732368,1.0400204758,0.589950007472,-0.00114402537578,1.03969218897
+208,3.466666667,pose1_to_pose2_press,0.619637063613,-0.00981829190938,1.04002055628,0.590208210261,-0.00114405079992,1.03969226083
+209,3.483333333,pose1_to_pose2_press,0.619868807142,-0.00981830107681,1.04002037637,0.590439954456,-0.00114405743959,1.03969208209
+210,3.500000000,pose1_to_pose2_press,0.620072348383,-0.00981818741747,1.0400206705,0.590643493335,-0.00114395162817,1.03969237415
+211,3.516666667,pose1_to_pose2_press,0.620254161336,-0.00981821285681,1.04002066144,0.590825307037,-0.00114397424687,1.03969236674
+212,3.533333333,pose1_to_pose2_press,0.620417099067,-0.00981823234547,1.0400206671,0.590988244388,-0.00114399485957,1.03969237216
+213,3.550000000,pose1_to_pose2_press,0.620567946111,-0.00981824235524,1.04002060027,0.591139092186,-0.00114400209983,1.0396923061
+214,3.566666667,pose1_to_pose2_press,0.620708806242,-0.00981815315304,1.04002072379,0.591279952364,-0.00114391268015,1.0396924268
+215,3.583333333,pose1_to_pose2_press,0.620839540768,-0.00981804908851,1.04002076886,0.591410685272,-0.00114381398502,1.03969247111
+216,3.600000000,pose1_to_pose2_press,0.620958955978,-0.00981809547549,1.04002045758,0.591530098864,-0.00114386555685,1.03969216422
+217,3.616666667,pose1_to_pose2_press,0.621066189333,-0.00981817611036,1.04002054573,0.591637333081,-0.00114394345588,1.03969224442
+218,3.633333333,pose1_to_pose2_press,0.621158740269,-0.00981816852661,1.04002028648,0.591729885325,-0.00114393080309,1.03969199906
+219,3.650000000,pose1_to_pose2_press,0.62123807606,-0.00981823846871,1.04002061643,0.591809221895,-0.00114399807461,1.03969232703
+220,3.666666667,pose1_to_pose2_press,0.621305051827,-0.00981811307851,1.04002075586,0.591876196364,-0.00114387699264,1.03969246266
+221,3.683333333,pose1_to_pose2_press,0.621362360376,-0.00981818613662,1.04002064024,0.59193350523,-0.00114394942722,1.03969234494
+222,3.700000000,pose1_to_pose2_press,0.621410850252,-0.00981823721002,1.04002055687,0.591981995421,-0.00114399952281,1.03969225976
+223,3.716666667,pose1_to_pose2_press,0.621452784416,-0.00981817878059,1.0400206039,0.5920239284,-0.00114394489595,1.03969230467
+224,3.733333333,pose1_to_pose2_press,0.621488291374,-0.00981811312545,1.04002063668,0.592059433698,-0.00114388474825,1.03969233731
+225,3.750000000,pose1_to_pose2_press,0.621517443537,-0.00981818291626,1.04002044173,0.592088587577,-0.00114394841879,1.03969214734
+226,3.766666667,pose1_to_pose2_press,0.6215407945,-0.00981811528318,1.04002056406,0.592111939021,-0.00114387945815,1.03969226634
+227,3.783333333,pose1_to_pose2_press,0.621558095206,-0.00981812815097,1.04002058957,0.592129239734,-0.00114389233926,1.03969228612
+228,3.800000000,pose1_to_pose2_press,0.621570832324,-0.00981813549778,1.04002064855,0.592141977525,-0.00114389720387,1.03969235117
+229,3.816666667,pose1_to_pose2_press,0.621579581949,-0.00981823136731,1.04002060189,0.592150728318,-0.0011439889364,1.03969230942
+230,3.833333333,pose1_to_pose2_press,0.621585577205,-0.00981829752283,1.04002054583,0.592156724195,-0.00114405284712,1.03969225647
+231,3.850000000,pose1_to_pose2_press,0.621589336879,-0.00981818300151,1.04002059768,0.592160482682,-0.0011439422334,1.03969231124
+232,3.866666667,pose1_to_pose2_press,0.621591993838,-0.0098182210458,1.04002060393,0.59216313965,-0.00114398032089,1.03969231529
+233,3.883333333,pose1_to_pose2_press,0.621593700343,-0.00981836413764,1.04002057765,0.592164847007,-0.00114412072948,1.03969228331
+234,3.900000000,pose1_to_pose2_press,0.621594548582,-0.00981843526318,1.04002056458,0.59216569567,-0.00114419052128,1.03969226742
+235,3.916666667,pose1_to_pose2_press,0.621595255565,-0.00981842441298,1.04002049358,0.592166402467,-0.00114418026097,1.03969219728
+236,3.933333333,pose1_to_pose2_press,0.621595920169,-0.00981837865089,1.04002039636,0.592167066622,-0.00114413591622,1.03969210248
+237,3.950000000,pose1_to_pose2_press,0.621596243518,-0.00981835638627,1.04002034905,0.592167389754,-0.00114411434119,1.03969205636
+238,3.966666667,pose1_to_pose2_press,0.621596333655,-0.00981835017975,1.04002033587,0.59216747983,-0.00114410832689,1.0396920435
+239,3.983333333,pose1_to_pose2_press,0.621596340831,-0.00981834968566,1.04002033482,0.592167487001,-0.0011441078481,1.03969204248
+240,4.000000000,pose1_to_pose2_press,0.621596361547,-0.00981834825923,1.04002033179,0.592167507703,-0.00114410646585,1.03969203953
+241,4.016666667,pose1_to_pose2_press,0.621596520063,-0.00981833734443,1.0400203086,0.592167666112,-0.0011440958891,1.03969201692
+242,4.033333333,pose1_to_pose2_press,0.621596721835,-0.00981832345113,1.04002027908,0.592167867749,-0.00114408242611,1.03969198814
+243,4.050000000,pose1_to_pose2_press,0.621596908702,-0.00981830521509,1.04002035136,0.592168054419,-0.0011440649131,1.03969205928
+244,4.066666667,pose1_to_pose2_press,0.621597271738,-0.00981826905717,1.04002050534,0.592168417065,-0.00114403020396,1.03969221079
+245,4.083333333,pose1_to_pose2_press,0.621597616432,-0.00981823472598,1.04002065153,0.592168761389,-0.00114399724835,1.03969235464
+246,4.100000000,pose1_to_pose2_press,0.621597745295,-0.00981818793968,1.04002064998,0.592168889388,-0.0011439533642,1.03969235365
+247,4.116666667,pose1_to_pose2_press,0.621597874025,-0.00981809536992,1.04002057256,0.592169016276,-0.00114386691702,1.03969227873
+248,4.133333333,pose1_to_pose2_press,0.621597991985,-0.00981811210928,1.04002042187,0.592169133939,-0.00114388464985,1.03969212927
+249,4.150000000,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.592169133946,-0.0011438846481,1.03969212927
+250,4.166666667,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.592169133946,-0.00114388464797,1.03969212927
+251,4.183333333,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.592169133947,-0.00114388464783,1.03969212927
+252,4.200000000,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.592169133947,-0.00114388464777,1.03969212927
+253,4.216666667,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.592169133947,-0.00114388464766,1.03969212927
+254,4.233333333,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.592169133948,-0.00114388464756,1.03969212927
+255,4.250000000,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.592169133948,-0.0011438846475,1.03969212927
+256,4.266666667,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.592169133948,-0.0011438846474,1.03969212927
+257,4.283333333,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.592169133949,-0.00114388464739,1.03969212927
+258,4.300000000,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.592169133949,-0.00114388464733,1.03969212927
+259,4.316666667,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.592169133949,-0.00114388464729,1.03969212927
+260,4.333333333,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.59216913395,-0.00114388464711,1.03969212927
+261,4.350000000,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.59216913395,-0.00114388464714,1.03969212927
+262,4.366666667,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.59216913395,-0.00114388464702,1.03969212927
+263,4.383333333,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.59216913395,-0.0011438846469,1.03969212927
+264,4.400000000,pose2_hold,0.621597991985,-0.00981811210928,1.04002042187,0.592169133951,-0.00114388464683,1.03969212927
+265,4.416666667,pose2_to_pose3_retreat,0.621597991985,-0.00981811210928,1.04002042187,0.592169133952,-0.00114388464651,1.03969212927
+266,4.433333333,pose2_to_pose3_retreat,0.621597973709,-0.0098180937971,1.04002045756,0.592169115511,-0.00114386689227,1.03969216493
+267,4.450000000,pose2_to_pose3_retreat,0.621597961817,-0.00981808188235,1.04002048078,0.592169103513,-0.00114385534055,1.03969218814
+268,4.466666667,pose2_to_pose3_retreat,0.621597806779,-0.00981814173486,1.04002057923,0.592168949796,-0.0011439107422,1.03969228596
+269,4.483333333,pose2_to_pose3_retreat,0.621597684066,-0.00981822804154,1.04002062019,0.592168828618,-0.00114399186443,1.03969232636
+270,4.500000000,pose2_to_pose3_retreat,0.62159763913,-0.00981825964624,1.04002063519,0.592168784244,-0.00114402157064,1.03969234115
+271,4.516666667,pose2_to_pose3_retreat,0.621597293,-0.00981833098626,1.0400206137,0.592168439256,-0.00114408910512,1.03969231791
+272,4.533333333,pose2_to_pose3_retreat,0.621596447758,-0.00981833048031,1.04002045451,0.592167593614,-0.00114409009393,1.03969215487
+273,4.550000000,pose2_to_pose3_retreat,0.621594178405,-0.00981825821868,1.04002055916,0.592165322821,-0.00114402276938,1.03969225867
+274,4.566666667,pose2_to_pose3_retreat,0.62158840591,-0.00981822036609,1.04002064538,0.59215955112,-0.00114398188345,1.03969235298
+275,4.583333333,pose2_to_pose3_retreat,0.62157782809,-0.00981819985046,1.04002056969,0.592148971953,-0.00114396590311,1.03969227867
+276,4.600000000,pose2_to_pose3_retreat,0.621558374459,-0.00981827594686,1.04002040859,0.5921295202,-0.00114403561143,1.03969211884
+277,4.616666667,pose2_to_pose3_retreat,0.621529678619,-0.00981832732843,1.04002054313,0.59210082424,-0.00114408768813,1.03969224631
+278,4.633333333,pose2_to_pose3_retreat,0.621490731578,-0.0098182636302,1.04002058417,0.592061877437,-0.00114402319048,1.03969228565
+279,4.650000000,pose2_to_pose3_retreat,0.621442146896,-0.00981831504179,1.040020691,0.59201329314,-0.00114407330966,1.039692398
+280,4.666666667,pose2_to_pose3_retreat,0.621383303185,-0.00981820111604,1.040020673,0.591954448079,-0.00114396414806,1.03969237789
+281,4.683333333,pose2_to_pose3_retreat,0.621317387814,-0.00981821093027,1.04002042295,0.591888532744,-0.00114397384218,1.0396921357
+282,4.700000000,pose2_to_pose3_retreat,0.621244536757,-0.00981831912291,1.04002055328,0.591815683476,-0.00114407597457,1.0396922611
+283,4.716666667,pose2_to_pose3_retreat,0.621163173758,-0.00981835154542,1.04002064544,0.591734323727,-0.00114409749601,1.03969235214
+284,4.733333333,pose2_to_pose3_retreat,0.621072917329,-0.00981815296305,1.04002045089,0.591644061904,-0.00114391735036,1.039692157
+285,4.750000000,pose2_to_pose3_retreat,0.620971443097,-0.00981821416899,1.04002033132,0.591542588383,-0.001143976177,1.03969203966
+286,4.766666667,pose2_to_pose3_retreat,0.620857507456,-0.00981825732316,1.04002056314,0.591428653656,-0.00114401636009,1.03969227137
+287,4.783333333,pose2_to_pose3_retreat,0.620729626359,-0.00981820667723,1.04002069047,0.591300772123,-0.00114396740481,1.03969239715
+288,4.800000000,pose2_to_pose3_retreat,0.620586456922,-0.00981813228449,1.0400205796,0.59115760145,-0.00114389746732,1.03969228398
+289,4.816666667,pose2_to_pose3_retreat,0.620428021621,-0.00981820151795,1.04002066874,0.59099916626,-0.00114396661112,1.03969237006
+290,4.833333333,pose2_to_pose3_retreat,0.620251984202,-0.00981819605256,1.04002054693,0.59082313042,-0.00114395572691,1.03969225538
+291,4.850000000,pose2_to_pose3_retreat,0.620060352975,-0.00981813839201,1.04002066031,0.590631498121,-0.0011439022127,1.0396923609
+292,4.866666667,pose2_to_pose3_retreat,0.619852933967,-0.00981826920711,1.04002053522,0.590424081425,-0.00114402537398,1.03969223683
+293,4.883333333,pose2_to_pose3_retreat,0.619629231946,-0.00981830695635,1.04002048174,0.590200379562,-0.00114406274572,1.03969218614
+294,4.900000000,pose2_to_pose3_retreat,0.619388994718,-0.0098182233304,1.04002061516,0.589960140275,-0.00114398636984,1.03969231978
+295,4.916666667,pose2_to_pose3_retreat,0.61912930461,-0.00981822861917,1.04002074945,0.589700450518,-0.00114399080069,1.03969245217
+296,4.933333333,pose2_to_pose3_retreat,0.618848770791,-0.00981839036904,1.0400204864,0.589419919003,-0.00114414545644,1.03969218059
+297,4.950000000,pose2_to_pose3_retreat,0.618542413805,-0.00981833139077,1.04002033594,0.589113561096,-0.00114408953063,1.03969203937
+298,4.966666667,pose2_to_pose3_retreat,0.618210910108,-0.00981823559029,1.04002048008,0.588782055847,-0.00114399932122,1.03969218444
+299,4.983333333,pose2_to_pose3_retreat,0.617852342462,-0.00981815469858,1.04002055827,0.58842348749,-0.00114392128576,1.03969226169
+300,5.000000000,pose2_to_pose3_retreat,0.617477653246,-0.00981817870697,1.04002062315,0.588048798975,-0.00114394339424,1.03969232446
+301,5.016666667,pose2_to_pose3_retreat,0.617089388915,-0.00981826563565,1.04002060163,0.587660536216,-0.00114402533443,1.03969230513
+302,5.033333333,pose2_to_pose3_retreat,0.616688802358,-0.00981831559081,1.04002042263,0.587259950936,-0.00114407113092,1.03969213386
+303,5.050000000,pose2_to_pose3_retreat,0.616275597268,-0.00981834630613,1.04002055704,0.58684674544,-0.00114410384248,1.0396922611
+304,5.066666667,pose2_to_pose3_retreat,0.615843700057,-0.00981840474181,1.04002043686,0.586414849666,-0.00114415773236,1.03969214443
+305,5.083333333,pose2_to_pose3_retreat,0.615384937038,-0.00981819698095,1.04002060005,0.585956085059,-0.00114395604523,1.03969230193
+306,5.100000000,pose2_to_pose3_retreat,0.614895409774,-0.00981814886918,1.04002066898,0.585466557137,-0.00114391056624,1.03969237205
+307,5.116666667,pose2_to_pose3_retreat,0.614375615735,-0.00981820463305,1.04002060437,0.584946763358,-0.00114396574879,1.03969231132
+308,5.133333333,pose2_to_pose3_retreat,0.613831065664,-0.00981818532571,1.0400204531,0.584402213028,-0.00114394766273,1.0396921641
+309,5.150000000,pose2_to_pose3_retreat,0.613276250238,-0.00981816686287,1.04002028694,0.583847397417,-0.00114393004249,1.03969200607
+310,5.166666667,pose2_to_pose3_retreat,0.61271227383,-0.00981830438634,1.04002051802,0.583283423111,-0.00114406121932,1.03969222919
+311,5.183333333,pose2_to_pose3_retreat,0.612135196319,-0.00981824753514,1.04002052698,0.582706345523,-0.00114400520474,1.03969223407
+312,5.200000000,pose2_to_pose3_retreat,0.611544085823,-0.00981826541925,1.04002053277,0.582115233944,-0.0011440271235,1.03969223909
+313,5.216666667,pose2_to_pose3_retreat,0.610936068857,-0.0098182240465,1.04002061196,0.581507216736,-0.00114398687445,1.03969231701
+314,5.233333333,pose2_to_pose3_retreat,0.610308866738,-0.00981820716458,1.04002067002,0.580880015624,-0.0011439668516,1.0396923747
+315,5.250000000,pose2_to_pose3_retreat,0.609665767976,-0.00981820886571,1.04002060073,0.580236917235,-0.00114396755324,1.0396923063
+316,5.266666667,pose2_to_pose3_retreat,0.609007452771,-0.0098181614192,1.04002043282,0.579578600219,-0.00114392652494,1.03969213892
+317,5.283333333,pose2_to_pose3_retreat,0.608328859751,-0.00981835788516,1.04002053517,0.578900010188,-0.00114411316728,1.03969224204
+318,5.300000000,pose2_to_pose3_retreat,0.607623870396,-0.00981823125046,1.0400204503,0.57819501867,-0.00114399211831,1.03969215454
+319,5.316666667,pose2_to_pose3_retreat,0.606899044328,-0.0098182303598,1.04002043523,0.577470193309,-0.00114398844054,1.03969214033
+320,5.333333333,pose2_to_pose3_retreat,0.606157898293,-0.00981825709252,1.0400203459,0.576729046359,-0.00114401816574,1.03969205342
+321,5.350000000,pose2_to_pose3_retreat,0.605399924062,-0.00981830702137,1.04002043608,0.57597107231,-0.00114406757269,1.03969214099
+322,5.366666667,pose2_to_pose3_retreat,0.604639029383,-0.00981821226108,1.040020504,0.575210177171,-0.0011439744145,1.03969220778
+323,5.383333333,pose2_to_pose3_retreat,0.603887722692,-0.00981813920871,1.04002045648,0.574458870166,-0.00114390230508,1.03969216339
+324,5.400000000,pose2_to_pose3_retreat,0.603131534303,-0.00981838155003,1.04002050917,0.57370268502,-0.00114413361771,1.0396922165
+325,5.416666667,pose2_to_pose3_retreat,0.602367676157,-0.00981832058756,1.04002042529,0.572938825677,-0.0011440766632,1.03969213194
+326,5.433333333,pose2_to_pose3_retreat,0.601597297192,-0.00981808583006,1.04002052249,0.572168442895,-0.00114385485862,1.03969222993
+327,5.450000000,pose2_to_pose3_retreat,0.600819043651,-0.00981833803841,1.04002062815,0.571390192276,-0.00114409719779,1.03969233442
+328,5.466666667,pose2_to_pose3_retreat,0.600032796967,-0.0098182141952,1.04002058412,0.570603944573,-0.00114397676183,1.03969229172
+329,5.483333333,pose2_to_pose3_retreat,0.599242118147,-0.0098180718031,1.04002047778,0.569813264778,-0.00114383764334,1.03969218622
+330,5.500000000,pose2_to_pose3_retreat,0.598447924083,-0.00981821962816,1.04002057043,0.569019072821,-0.00114397847005,1.03969227481
+331,5.516666667,pose2_to_pose3_retreat,0.597659988066,-0.00981842045363,1.04002074513,0.568231138861,-0.00114417250826,1.03969244442
+332,5.533333333,pose2_to_pose3_retreat,0.59687907941,-0.00981824552657,1.04002054513,0.567450227642,-0.00114400614179,1.03969224793
+333,5.550000000,pose2_to_pose3_retreat,0.596110605608,-0.00981808361484,1.0400204116,0.566681751973,-0.00114385033584,1.03969212039
+334,5.566666667,pose2_to_pose3_retreat,0.59535492757,-0.00981825534301,1.04002052328,0.565926076219,-0.00114401438255,1.0396922302
+335,5.583333333,pose2_to_pose3_retreat,0.59461167707,-0.0098182434748,1.04002052917,0.565182826325,-0.00114400033411,1.03969223945
+336,5.600000000,pose2_to_pose3_retreat,0.593868909628,-0.0098182745476,1.04002068311,0.564440058677,-0.00114403235472,1.03969238678
+337,5.616666667,pose2_to_pose3_retreat,0.593120120181,-0.00981827165348,1.04002057892,0.563691268569,-0.00114403175064,1.03969228119
+338,5.633333333,pose2_to_pose3_retreat,0.592364533097,-0.00981822871254,1.04002032355,0.562935681263,-0.0011439892788,1.03969203336
+339,5.650000000,pose2_to_pose3_retreat,0.591605508118,-0.00981835583633,1.04002076737,0.56217665749,-0.00114411262756,1.03969246879
+340,5.666666667,pose2_to_pose3_retreat,0.590852115496,-0.0098183620325,1.04002055708,0.561423264377,-0.00114412043173,1.03969226004
+341,5.683333333,pose2_to_pose3_retreat,0.590118019818,-0.0098181816907,1.04002056432,0.560689168759,-0.00114393986929,1.03969226766
+342,5.700000000,pose2_to_pose3_retreat,0.589414620669,-0.00981818826274,1.04002054329,0.559985768328,-0.00114395068153,1.03969224946
+343,5.716666667,pose2_to_pose3_retreat,0.588731579856,-0.00981816453767,1.04002052972,0.559302727233,-0.00114392779558,1.03969223902
+344,5.733333333,pose2_to_pose3_retreat,0.588065901437,-0.00981818322188,1.04002045539,0.55863704946,-0.00114394411408,1.03969216921
+345,5.750000000,pose2_to_pose3_retreat,0.587406368911,-0.0098181639011,1.04002038558,0.557977516216,-0.00114392716091,1.03969210123
+346,5.766666667,pose2_to_pose3_retreat,0.586752941754,-0.00981814006293,1.04002041612,0.557324087763,-0.00114390782984,1.03969212888
+347,5.783333333,pose2_to_pose3_retreat,0.586114697525,-0.00981840114731,1.04002051037,0.556685847537,-0.00114415536753,1.03969222214
+348,5.800000000,pose2_to_pose3_retreat,0.585495237615,-0.00981830532598,1.04002052975,0.556066386668,-0.00114406288357,1.03969223933
+349,5.816666667,pose2_to_pose3_retreat,0.584896584509,-0.00981833989168,1.04002055644,0.55546773384,-0.00114409677863,1.03969225877
+350,5.833333333,pose2_to_pose3_retreat,0.584320191313,-0.00981843667752,1.04002043273,0.554891341078,-0.00114419177642,1.03969214344
+351,5.850000000,pose2_to_pose3_retreat,0.583761591933,-0.00981840391548,1.04002045364,0.554332741194,-0.00114416066064,1.03969216608
+352,5.866666667,pose2_to_pose3_retreat,0.583217369683,-0.00981833714543,1.04002051919,0.553788518724,-0.00114409470034,1.03969222985
+353,5.883333333,pose2_to_pose3_retreat,0.582690163242,-0.00981831223011,1.04002055355,0.553261312408,-0.0011440693084,1.03969226569
+354,5.900000000,pose2_to_pose3_retreat,0.582186461905,-0.00981830536677,1.04002059541,0.552757610439,-0.00114406455219,1.03969230851
+355,5.916666667,pose2_to_pose3_retreat,0.581708266075,-0.0098184313483,1.04002043368,0.552279415222,-0.00114418875367,1.0396921388
+356,5.933333333,pose2_to_pose3_retreat,0.581254498149,-0.00981835577747,1.04002061557,0.551825648083,-0.00114411026525,1.03969232726
+357,5.950000000,pose2_to_pose3_retreat,0.58081480583,-0.00981815908172,1.04002055389,0.551385953345,-0.00114392177443,1.03969226558
+358,5.966666667,pose2_to_pose3_retreat,0.580386878452,-0.00981816125069,1.04002063953,0.550958025977,-0.00114392432705,1.03969234013
+359,5.983333333,pose2_to_pose3_retreat,0.579971304436,-0.00981823594084,1.04002059059,0.550542452136,-0.00114399863757,1.03969228595
+360,6.000000000,pose2_to_pose3_retreat,0.579575504631,-0.00981824768434,1.04002054715,0.550146652372,-0.00114401006527,1.03969224745
+361,6.016666667,pose2_to_pose3_retreat,0.57920823741,-0.00981825271873,1.04002065168,0.54977938583,-0.00114401272541,1.03969235374
+362,6.033333333,pose2_to_pose3_retreat,0.578872306207,-0.0098183077714,1.04002060837,0.549443454265,-0.00114406927308,1.03969230346
+363,6.050000000,pose2_to_pose3_retreat,0.578566635443,-0.00981824573061,1.04002071038,0.549137782994,-0.00114400896602,1.03969240546
+364,6.066666667,pose2_to_pose3_retreat,0.578284626724,-0.0098181055644,1.04002047272,0.548855773175,-0.00114387205477,1.03969217986
+365,6.083333333,pose2_to_pose3_retreat,0.578020176566,-0.00981823657134,1.04002054929,0.548591324599,-0.0011439975238,1.03969226089
+366,6.100000000,pose2_to_pose3_retreat,0.577767012094,-0.00981829775837,1.04002064773,0.548338159992,-0.00114405927269,1.03969235654
+367,6.116666667,pose2_to_pose3_retreat,0.577524826424,-0.00981829012653,1.04002068371,0.548095974097,-0.00114405270339,1.03969238464
+368,6.133333333,pose2_to_pose3_retreat,0.577294907487,-0.00981832452004,1.04002066827,0.547866057259,-0.00114408009915,1.03969236605
+369,6.150000000,pose2_to_pose3_retreat,0.577080976354,-0.00981821089529,1.04002053156,0.547652125146,-0.00114396929399,1.03969224279
+370,6.166666667,pose2_to_pose3_retreat,0.576884027619,-0.00981816322391,1.0400206216,0.547455173908,-0.00114393017053,1.03969233127
+371,6.183333333,pose2_to_pose3_retreat,0.576708405908,-0.00981821279571,1.04002042318,0.547279552107,-0.00114398020502,1.03969212881
+372,6.200000000,pose2_to_pose3_retreat,0.576551778301,-0.00981814455553,1.04002051302,0.547122924547,-0.00114391168152,1.03969222203
+373,6.216666667,pose2_to_pose3_retreat,0.576414221165,-0.00981817734633,1.04002043984,0.546985369331,-0.00114393792179,1.03969214976
+374,6.233333333,pose2_to_pose3_retreat,0.576293634491,-0.00981818393194,1.04002041018,0.54686478248,-0.00114394509898,1.03969212037
+375,6.250000000,pose2_to_pose3_retreat,0.576189616809,-0.00981819102951,1.04002061339,0.546760764676,-0.0011439528448,1.03969231737
+376,6.266666667,pose2_to_pose3_retreat,0.576098732381,-0.00981823881107,1.0400206418,0.54666988061,-0.00114399952188,1.03969234286
+377,6.283333333,pose2_to_pose3_retreat,0.576019853488,-0.00981833102447,1.04002035038,0.54659100225,-0.00114408974834,1.0396920565
+378,6.300000000,pose2_to_pose3_retreat,0.57595230053,-0.00981842968682,1.04002057333,0.546523451225,-0.00114418210163,1.03969227272
+379,6.316666667,pose2_to_pose3_retreat,0.575893877389,-0.00981835789299,1.04002035141,0.54646502814,-0.00114411000483,1.03969205375
+380,6.333333333,pose2_to_pose3_retreat,0.575844550541,-0.00981823225942,1.04002047396,0.546415699217,-0.00114399129114,1.03969217938
+381,6.350000000,pose2_to_pose3_retreat,0.575802608002,-0.0098181898742,1.04002067316,0.54637375566,-0.00114395231293,1.03969237983
+382,6.366666667,pose2_to_pose3_retreat,0.575768011847,-0.00981813272665,1.04002061754,0.546339158709,-0.00114389779322,1.03969232613
+383,6.383333333,pose2_to_pose3_retreat,0.575740827214,-0.00981807777987,1.04002042745,0.546311973301,-0.00114384539288,1.03969213818
+384,6.400000000,pose2_to_pose3_retreat,0.575719619067,-0.00981817225969,1.04002051957,0.546290765741,-0.00114393793052,1.039692229
+385,6.416666667,pose2_to_pose3_retreat,0.575703968778,-0.00981810163367,1.04002043317,0.546275114263,-0.00114387141259,1.03969214074
+386,6.433333333,pose2_to_pose3_retreat,0.575692519051,-0.00981821045774,1.04002050203,0.546263665898,-0.00114397565053,1.03969220859
+387,6.450000000,pose2_to_pose3_retreat,0.575684776022,-0.00981828580924,1.04002057866,0.546255923736,-0.00114404806364,1.03969228518
+388,6.466666667,pose2_to_pose3_retreat,0.575679021425,-0.00981828538264,1.04002063467,0.546250168871,-0.00114404851383,1.03969234208
+389,6.483333333,pose2_to_pose3_retreat,0.575675069784,-0.00981824086514,1.0400206037,0.546246216427,-0.00114400684564,1.03969230786
+390,6.500000000,pose2_to_pose3_retreat,0.575672510732,-0.00981820088223,1.04002056614,0.546243656698,-0.00114396927469,1.03969226721
+391,6.516666667,pose2_to_pose3_retreat,0.575671041573,-0.00981822645461,1.04002057295,0.546242188389,-0.00114399206758,1.03969227132
+392,6.533333333,pose2_to_pose3_retreat,0.575670296007,-0.0098182461809,1.04002058036,0.546241443427,-0.0011440098042,1.03969227722
+393,6.550000000,pose2_to_pose3_retreat,0.575669963914,-0.00981825496746,1.04002058366,0.546241111603,-0.00114401770452,1.03969227985
+394,6.566666667,pose2_to_pose3_retreat,0.575669879382,-0.00981825720404,1.0400205845,0.546241027138,-0.00114401971551,1.03969228052
+395,6.583333333,pose2_to_pose3_retreat,0.575669583272,-0.00981826503856,1.04002058744,0.546240731268,-0.00114402675981,1.03969228287
+396,6.600000000,pose2_to_pose3_retreat,0.575669127166,-0.00981827710628,1.04002059197,0.546240275531,-0.00114403761033,1.03969228648
+397,6.616666667,pose2_to_pose3_retreat,0.575668712712,-0.00981827317517,1.04002055723,0.546239861056,-0.00114403368321,1.03969225351
+398,6.633333333,pose2_to_pose3_retreat,0.575668485226,-0.00981827027277,1.04002053621,0.546239633541,-0.0011440308385,1.0396922336
+399,6.650000000,pose2_to_pose3_retreat,0.575668464877,-0.00981827001314,1.04002053433,0.546239613189,-0.00114403058403,1.03969223182
+400,6.666666667,pose2_to_pose3_retreat,0.575668455811,-0.00981826989747,1.0400205335,0.546239604122,-0.00114403047066,1.03969223103
+401,6.683333333,pose2_to_pose3_retreat,0.575668414948,-0.00981826937612,1.04002052972,0.546239563254,-0.00114402995967,1.03969222745
+402,6.700000000,pose2_to_pose3_retreat,0.57566817,-0.00981826625093,1.0400205071,0.546239318275,-0.00114402689659,1.03969220602
+403,6.716666667,pose2_to_pose3_retreat,0.575667973088,-0.00981826373862,1.04002048891,0.546239121338,-0.00114402443421,1.03969218878
+404,6.733333333,pose2_to_pose3_retreat,0.575667610956,-0.00981825911833,1.04002045546,0.546238759159,-0.00114401990574,1.03969215709
+405,6.750000000,pose2_to_pose3_retreat,0.575667557784,-0.00981825843993,1.04002045055,0.54623870598,-0.00114401924083,1.03969215244
+406,6.766666667,pose2_to_pose3_retreat,0.575667238914,-0.00981822947227,1.04002051077,0.546238386331,-0.00114399291107,1.03969221276
+407,6.783333333,pose2_to_pose3_retreat,0.57566722713,-0.00981822825059,1.04002051354,0.546238374514,-0.0011439918024,1.03969221552
+408,6.800000000,pose2_to_pose3_retreat,0.575667134588,-0.00981821865616,1.0400205353,0.54623828171,-0.00114398309548,1.03969223724
+409,6.816666667,pose2_to_pose3_retreat,0.575667026708,-0.00981820919369,1.04002055817,0.54623817361,-0.00114397438486,1.03969226003
+410,6.833333333,pose2_to_pose3_retreat,0.575667003759,-0.00981821046758,1.0400205583,0.546238150774,-0.001143975279,1.03969226008
+411,6.850000000,pose2_to_pose3_retreat,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032

Obstacle_avoidance/cylinder_15A_10/position_07/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83f253d8bbba4a576b3b5d87a1c4fbcc984257e9f17ac538b031d6e0f2bc6738
+size 25797707

Obstacle_avoidance/cylinder_15A_10/position_07/depth_01/franka_data.csv

@@ -0,0 +1,408 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,803,760,735,739,693,661,929,811,838,671,643,673,0.401012060084,-0.0155037198703,0.0698376357314,0.999999983063,5.25230321467e-05,-0.000176004244477,1.17510385151e-05,1793255965562733312
+1,0.016666667,BASELINE,803,760,735,738.421320738,693,661,929,811,838,671,643,673,0.40101146028,-0.0155049358041,0.0698376269965,0.999999982912,5.08268635478e-05,-0.000177355779061,1.16992606918e-05,1793255965579399168
+2,0.033333333,BASELINE,803,760,735,738,693,661,929,811,838,671,643,673,0.401011409057,-0.0155055437102,0.0698377958922,0.999999982853,4.98643297053e-05,-0.000177968550254,1.16355689917e-05,1793255965596065280
+3,0.050000000,BASELINE,803,760,735,738,693,661,929,811,838,671,643,673,0.401012826634,-0.0155045236481,0.0698384403866,0.999999983045,5.08660718595e-05,-0.000176603313671,1.15399783732e-05,1793255965612732672
+4,0.066666667,BASELINE,803,760,735,738,693,661,929.312996655,811,838,671,643,673,0.401012916381,-0.0155047435886,0.0698388457682,0.999999983169,5.01421632745e-05,-0.000176107688821,1.16047376368e-05,1793255965629399552
+5,0.083333333,BASELINE,803,760,735,738,693,661,929.90171166,811,838,671,643,673,0.401011836444,-0.0155060558459,0.0698390405156,0.999999983229,4.78981311271e-05,-0.000176378103903,1.18107489096e-05,1793255965646065920
+6,0.100000000,BASELINE,803,760,735.482604315,738,693.482604315,661,929.517395685,811,838,671,643,673,0.401011775234,-0.0155052371785,0.0698389943486,0.999999983041,4.92463966279e-05,-0.000177075723762,1.17345206867e-05,1793255965662732288
+7,0.116666667,BASELINE,803.061721107,760,735.876557785,738,693.938278893,661,929,811,838,671,643,673,0.401011974877,-0.0155041546538,0.0698389432637,0.999999982851,5.10193184627e-05,-0.000177648475108,1.16247738185e-05,1793255965679398656
+8,0.133333333,BASELINE,803.639098864,760,734.721802272,738,693.360901136,661,929,811,838,671,643,673,0.401012648115,-0.0155044356836,0.0698392544753,0.999999983096,5.03252018028e-05,-0.000176462692539,1.17075683177e-05,1793255965696065280
+9,0.150000000,BASELINE,803.784969501,760,734.215030499,738.215030499,693,661,929,811,838,671,643,673,0.401012530124,-0.0155050295501,0.069838971939,0.999999983157,4.96764480664e-05,-0.000176297158039,1.17591375319e-05,1793255965712732160
+10,0.166666667,BASELINE,803.211448839,760,734.788551161,738.788551161,693,661,929,811,838,671,643,673,0.401011093026,-0.0155061449653,0.0698376995302,0.999999982913,4.91033216338e-05,-0.000177832540032,1.17586492038e-05,1793255965729398784
+11,0.183333333,BASELINE,803.372344017,760.372344017,735,739,693.372344017,661,929.372344017,811,838.372344017,671,643,673,0.40101114609,-0.0155060586709,0.0698381950945,0.999999982951,4.91560159248e-05,-0.000177601826935,1.17869482552e-05,1793255965746065664
+12,0.200000000,BASELINE,803.96213586,760.96213586,735,739,693.96213586,661,929.96213586,811,838.96213586,671,643,673,0.401012069403,-0.0155052705817,0.0698397231499,0.999999983153,4.95741876486e-05,-0.000176339719575,1.18320590526e-05,1793255965762732800
+13,0.216666667,BASELINE,803.457568576,760.457568576,735,739,694,661,929.457568576,811,838.457568576,671,643,673,0.401012054496,-0.0155049464771,0.0698399591624,0.999999983152,5.1107779135e-05,-0.000175897806286,1.19650324856e-05,1793255965779399424
+14,0.233333333,BASELINE,803,760,735,738.87884729,694,661,929,811,838,671,643,673,0.401011818065,-0.0155046667367,0.0698399290037,0.999999983101,5.21857402852e-05,-0.000175870758238,1.19827821411e-05,1793255965796066048
+15,0.250000000,BASELINE,803,760,735,738.303584723,694,661,929,811,838,671,643,673,0.40101099256,-0.0155044339738,0.0698392334096,0.999999982921,5.12690667368e-05,-0.000177187819341,1.15460518536e-05,1793255965812732416
+16,0.266666667,BASELINE,803,760,735,738.270133615,693.729866385,661,929,811,838,671,643,673,0.401011224394,-0.0155046515658,0.0698392581122,0.999999982972,5.044044954e-05,-0.000177150488374,1.13368816675e-05,1793255965829398784
+17,0.283333333,BASELINE,803,760,735,738.842126332,693.157873668,661,929,811,838,671,643,673,0.401012637744,-0.0155053724041,0.069840087706,0.999999983282,4.97102304115e-05,-0.000175599700469,1.13819971047e-05,1793255965846065408
+18,0.300000000,BASELINE,803,760,735,738.567412742,693,661,929,811,838,671,643,673,0.401011859983,-0.0155051345763,0.0698397461126,0.999999983086,5.09235402249e-05,-0.000176367360761,1.13629110202e-05,1793255965862732032
+19,0.316666667,BASELINE,803,760,734.970978849,738,693,661,929,811,838,671,643,673,0.401010354687,-0.015504508834,0.0698389941039,0.999999982713,5.28133759156e-05,-0.000177923152009,1.13151239877e-05,1793255965879398656
+20,0.333333333,BASELINE,803,760,734.394678023,738,693,661,929,811,838,671,643,673,0.401010881851,-0.0155034598379,0.0698389223736,0.999999982723,5.34887358874e-05,-0.00017767375052,1.11876517443e-05,1793255965896066048
+21,0.350000000,BASELINE,803.180770394,760,734.180770394,738,693,661,929,811,838,671,643,673,0.401011223016,-0.0155028880179,0.0698388655266,0.999999982754,5.37153044314e-05,-0.000177440515958,1.10571734574e-05,1793255965912732928
+22,0.366666667,BASELINE,803.754366396,760,734.754366396,738,693,661,929,811,838,671,643,673,0.401011159995,-0.0155033531325,0.0698388410217,0.99999998283,5.29666204606e-05,-0.000177242413193,1.09201628625e-05,1793255965929399296
+23,0.383333333,BASELINE,804,760,735,738.336467709,693.336467709,661,929,811,838,671,643,673,0.401011350119,-0.0155039516426,0.0698392685353,0.999999982964,5.27942510202e-05,-0.000176523281428,1.11579118693e-05,1793255965946065664
+24,0.400000000,BASELINE,804,760,735,738.924939297,693.924939297,661,929,811,838,671,643,673,0.40101172984,-0.0155046500618,0.0698400345968,0.999999983139,5.30535232091e-05,-0.000175413915083,1.16763441795e-05,1793255965962732544
+25,0.416666667,BASELINE,804,760,735,738.49205439,693.49205439,661,929,811,838,671,643,673,0.401012648271,-0.0155052810968,0.0698405698755,0.999999983365,5.11867475475e-05,-0.000174678175546,1.17303047986e-05,1793255965979398912
+26,0.433333333,BASELINE,804,760,735,738,693,661,929,811,838,671,643,673,0.401013358152,-0.0155057075158,0.0698409791894,0.999999983531,4.95661135507e-05,-0.000174192113222,1.17242452251e-05,1793255965996065280
+27,0.450000000,BASELINE,804,760,735,738,693,661,929,811,838,671,643,673,0.401012499901,-0.0155050709113,0.069840885143,0.999999983359,5.09854215004e-05,-0.000174770649845,1.17612252439e-05,1793255966012731904
+28,0.466666667,BASELINE,803.786616199,760,735,738.213383801,693.213383801,661,929,811,838,671,643,673,0.401011992467,-0.0155050312802,0.0698405602644,0.999999983255,5.15650890438e-05,-0.000175195178101,1.1732615126e-05,1793255966029398784
+29,0.483333333,BASELINE,803.19546438,760,735,738.80453562,693.80453562,661,929,811,838,671,643,673,0.401012106108,-0.0155060485122,0.069839826728,0.999999983276,5.06582833429e-05,-0.000175347054719,1.15878862754e-05,1793255966046065664
+30,0.500000000,BASELINE,803.397859948,760,735,739,693.602140052,661,929,811,838,671,643,673,0.401012104241,-0.0155048936154,0.0698396982999,0.999999983168,5.16218635875e-05,-0.000175689984539,1.14738458611e-05,1793255966062732032
+31,0.516666667,BASELINE,803.99225745,760,735,739,693.00774255,661,929,811,838,671,643,673,0.401012045314,-0.0155026657156,0.0698398687874,0.999999982993,5.35093897856e-05,-0.000176127292111,1.13749651329e-05,1793255966079398656
+32,0.533333333,BASELINE,804,760,735,738.429587389,693,661,929,811,838,671,643,673,0.401013910706,-0.0155046858159,0.0698419735656,0.999999983693,5.06237823298e-05,-0.000172949341668,1.17823594841e-05,1793255966096065024
+33,0.550000000,BASELINE,804,760,735,738,693.147356492,661,929,811,838.147356492,671,643,673,0.401014748377,-0.0155058054601,0.0698431496735,0.999999984053,4.92359714398e-05,-0.00017125134881,1.19641732643e-05,1793255966112731904
+34,0.566666667,BASELINE,804,760,735,738,693.721413495,661,929,811,838.721413495,671,643,673,0.40101253653,-0.015504155306,0.0698415627055,0.999999983429,5.23677480811e-05,-0.000173977036772,1.14734245733e-05,1793255966129398528
+35,0.583333333,BASELINE,804,760,735,738.30314753,693.69685247,661,929,811,838.69685247,671,643,673,0.401012208983,-0.0155034885478,0.0698409047115,0.999999983228,5.36695810291e-05,-0.000174750582178,1.12272396225e-05,1793255966146064896
+36,0.600000000,BASELINE,804,760,735,738.89211998,693.10788002,661,929,811,838.10788002,671,643,673,0.401013658063,-0.0155037489917,0.0698411226074,0.999999983437,5.32460382205e-05,-0.000173683535668,1.121164337e-05,1793255966162731776
+37,0.616666667,BASELINE,804,760,735,739,693,661,929,811,838,671,643,673,0.401013903182,-0.015504725458,0.0698412201246,0.999999983529,5.21005910464e-05,-0.000173480409265,1.15293617666e-05,1793255966179398144
+38,0.633333333,BASELINE,804,760,735,739,693.049759747,661,929,811,838.049759747,671,643.049759747,673,0.40101383285,-0.0155058596543,0.0698412851942,0.999999983594,5.06861430059e-05,-0.000173499047901,1.18620176883e-05,1793255966196065024
+39,0.650000000,BASELINE,804,760,735,739,693.627097637,661,929,811,838.627097637,671,643.627097637,673,0.401013280369,-0.0155069638411,0.0698412924388,0.999999983669,4.81359400806e-05,-0.000173814979349,1.15605924464e-05,1793255966212731648
+40,0.666666667,BASELINE,804,760,735,738.79674574,693.79674574,661,929,811,838.79674574,671,643.79674574,673,0.401012812222,-0.0155067760611,0.069841266314,0.999999983608,4.78589470396e-05,-0.000174257834611,1.12744647158e-05,1793255966229398272
+41,0.683333333,BASELINE,804,760,735,738.222743852,693.222743852,661,929,811,838.222743852,671,643.222743852,673,0.401012497907,-0.0155042316585,0.0698411793216,0.999999983301,5.17284215879e-05,-0.000174932206296,1.10162405561e-05,1793255966246065152
+42,0.700000000,BASELINE,804,760,735,738.361918816,693,661,929,811,838,671,643.361918816,673,0.401012643741,-0.0155044010399,0.0698412525839,0.999999983216,5.25036613862e-05,-0.000175180402819,1.11415208351e-05,1793255966262731520
+43,0.716666667,BASELINE,804,760,735,738.953341802,693,661,929,811,838,671,643.953341802,673,0.40101308137,-0.0155062913177,0.0698414274689,0.999999983277,5.13167489135e-05,-0.000175158348167,1.15099934186e-05,1793255966279398400
+44,0.733333333,BASELINE,804,760,735,739,693.533355344,661,929,811,838,671,643.466644656,673,0.401012101455,-0.015504408601,0.0698406502101,0.999999983098,5.3373306967e-05,-0.00017558242399,1.12031884054e-05,1793255966296065024
+45,0.750000000,BASELINE,804,760,735,738.888483426,693.888483426,661,929,811,838.111516574,671,643,673,0.401011381459,-0.0155027127323,0.0698401178539,0.99999998297,5.51343326769e-05,-0.000175786429252,1.09612052177e-05,1793255966312731648
+46,0.766666667,BASELINE,804,760,735,738.313955768,693.313955768,661,929,811,838.686044232,671,643,673,0.401012244718,-0.0155031343526,0.0698409409106,0.999999983153,5.45149202429e-05,-0.000174918065409,1.12284927882e-05,1793255966329398528
+47,0.783333333,BASELINE,804,760,735,738.265922762,693.265922762,661,929,811,838.734077238,671,643,673,0.401012271413,-0.0155031355343,0.0698411348309,0.999999983148,5.4383336584e-05,-0.000174986431333,1.12611746866e-05,1793255966346064896
+48,0.800000000,BASELINE,804,760,735,738.852248488,693.852248488,661,929,811,838.147751512,671,643,673,0.401011290152,-0.0155026301412,0.0698405707223,0.999999982915,5.48395242086e-05,-0.000176183436865,1.10111867505e-05,1793255966362731776
+49,0.816666667,BASELINE,804,760,735,738.565969835,694,661,929,811,838,671,643,673,0.401011984418,-0.0155037024339,0.0698414336297,0.999999983213,5.19820115505e-05,-0.000175350952277,1.11266378022e-05,1793255966379398400
+50,0.833333333,BASELINE,804,760,735,738.014224126,693.985775874,661,929,811,838,671,643,673,0.401013184755,-0.0155052450003,0.0698427236274,0.999999983654,4.81831275112e-05,-0.000173903159949,1.13599293221e-05,1793255966396065024
+51,0.850000000,BASELINE,804,760,735,738.592165761,693.407834239,661,929,811,838,671,643,673,0.401012070773,-0.0155043608126,0.0698418871039,0.999999983277,5.13189978801e-05,-0.000175166459717,1.13842674763e-05,1793255966412731648
+52,0.866666667,BASELINE,804,760,735,738.83126406,693,661,929,811,838,671,643,673,0.401011119291,-0.0155039865939,0.0698409805654,0.999999982955,5.30999269283e-05,-0.000176468135654,1.13890081358e-05,1793255966429398272
+53,0.883333333,BASELINE,804,760,735,738.257981996,693,661,929,811,838,671,643,673,0.401010557402,-0.0155048350312,0.0698399061656,0.999999982785,5.16323702503e-05,-0.000177861818777,1.13467636025e-05,1793255966446065152
+54,0.900000000,BASELINE,804,760,735,738.324570417,693.324570417,661,929,811,838,671,643,673,0.401009913317,-0.0155046756374,0.0698393913343,0.999999982609,5.18930370372e-05,-0.00017877636156,1.13072388209e-05,1793255966462731776
+55,0.916666667,BASELINE,804,760,735,738.914707903,693.914707903,661,929,811,838,671,643,673,0.40100920198,-0.0155036916252,0.0698393343482,0.999999982428,5.35677552518e-05,-0.000179298866404,1.12699393719e-05,1793255966479398400
+56,0.933333333,BASELINE,803.501638706,760,735,738.501638706,693.501638706,661,929,811,838,671,643,673,0.401011359316,-0.0155036834045,0.069840638058,0.999999982892,5.2941148713e-05,-0.000176885301012,1.11506513033e-05,1793255966496065024
+57,0.950000000,BASELINE,803.079579003,760,735,738.079579003,693.079579003,661,929,811,838,671,643,673,0.401013313928,-0.0155037838686,0.069841726222,0.999999983311,5.20431215675e-05,-0.000174781329852,1.10163656055e-05,1793255966512731648
+58,0.966666667,BASELINE,803.65248814,760,735,738.65248814,693.65248814,661,929,811,838,671,643,673,0.401011007318,-0.0155035361081,0.0698400530454,0.999999982812,5.18727704577e-05,-0.000177671689,1.08749762411e-05,1793255966529398272
+59,0.983333333,BASELINE,804,760,735,739,694,661,929,811,838,671,643,673,0.401009914441,-0.0155032653541,0.0698394082052,0.999999982576,5.24490220435e-05,-0.000178828567488,1.08274696303e-05,1793255966546065152
+60,1.000000000,BASELINE,804,760,735,739,694,661,929,811,838,671,643,673,0.401010692868,-0.0155029591492,0.0698403488281,0.999999982753,5.41763671767e-05,-0.000177312808805,1.09247091062e-05,1793255966562731776
+61,1.016666667,BASELINE,804,760,735,739,693.612657703,661,929,811,838,671,643,673,0.401010371669,-0.0155036092986,0.0698399310988,0.99999998268,5.3771661093e-05,-0.000177843494699,1.0961034049e-05,1793255966579398400
+62,1.033333333,BASELINE,804,760,735,739,693.017474219,661,929,811,838,671,643,673,0.401009460429,-0.0155047726112,0.0698387845012,0.999999982471,5.22229330377e-05,-0.000179472267509,1.09646732994e-05,1793255966596065024
+63,1.050000000,BASELINE,804,760,735,739,693,661,929.557086747,811,838,671,643,673,0.401010504993,-0.0155031841675,0.0698393547737,0.999999982563,5.38664622394e-05,-0.000178489102489,1.06336834925e-05,1793255966612731904
+64,1.066666667,BASELINE,804,760,735,739,693,661,929.868482349,810.868482349,838,671,643,673,0.40101093176,-0.0155022354076,0.0698396951474,0.999999982608,5.47503077358e-05,-0.000177983060183,1.04552931798e-05,1793255966629398528
+65,1.083333333,BASELINE,804,760,735,739,693,661,929.29238252,810.29238252,838,671,643,673,0.40100907015,-0.0155037303966,0.0698390828242,0.999999982466,5.2739715717e-05,-0.000179356949646,1.08269653923e-05,1793255966646065152
+66,1.100000000,BASELINE,804,760,735,738.715575216,693,661,929,810.284424784,838,671,643,673.284424784,0.401008876364,-0.0155042307577,0.0698395846369,0.999999982579,5.20277040337e-05,-0.000178923804028,1.09822290012e-05,1793255966662731776
+67,1.116666667,BASELINE,804,760,735,738.138038866,693,661,929,810.861961134,838,671,643,673.861961134,0.401010401339,-0.0155037061135,0.0698412346131,0.999999982955,5.2653933503e-05,-0.00017662843354,1.0914474523e-05,1793255966679398400
+68,1.133333333,BASELINE,804,760,735,738,693,661,929,811,838,671,643,673.549087476,0.401010800211,-0.0155036356817,0.0698411784424,0.999999982953,5.33177578457e-05,-0.000176442891723,1.09055395376e-05,1793255966696065280
+69,1.150000000,BASELINE,804,760,735,738.042220994,693.042220994,661,929,811,838,671,643,673,0.401010901101,-0.0155037527351,0.0698406728224,0.999999982847,5.39674578865e-05,-0.000176844526596,1.09493143133e-05,1793255966712731904
+70,1.166666667,BASELINE,804,760,735,738.61800763,693.61800763,661,929,811,838,671,643,673,0.401011705996,-0.0155044362566,0.0698412593708,0.999999982922,5.42894400597e-05,-0.00017629221707,1.14257388914e-05,1793255966729399552
+71,1.183333333,BASELINE,804,760,735,739,693.806986009,661,929,811,838,671,643,673,0.401012084829,-0.0155046972157,0.0698416066311,0.999999982987,5.43326039557e-05,-0.000175893079236,1.16688542382e-05,1793255966746066688
+72,1.200000000,BASELINE,804,760,735,739,693.233517562,661,929,811,838,671,643,673,0.401011623838,-0.015504125252,0.069841482225,0.999999983034,5.38261825925e-05,-0.000175795861651,1.1452088313e-05,1793255966762733312
+73,1.216666667,BASELINE,804,760,735,738.649155374,693,661,929,811,838,671,643,673,0.401011425071,-0.0155038167202,0.0698408780176,0.999999982978,5.34840787977e-05,-0.000176222854767,1.13170967861e-05,1793255966779399680
+74,1.233333333,BASELINE,804,760,735,738.05731014,693,661,929,811,838,671,643,673,0.401011406428,-0.0155036891438,0.0698399442271,0.999999982853,5.32548473165e-05,-0.000177009936337,1.12382773732e-05,1793255966796066304
+75,1.250000000,BASELINE,804,760,735,738.522393614,693,661,929,811,838,671,643,673,0.401011888362,-0.0155031682426,0.0698409545812,0.999999982885,5.38879821028e-05,-0.000176642587616,1.1112884546e-05,1793255966812732672
+76,1.266666667,BASELINE,804,760,735,738.899793928,693,661,929,811,838,671,643,673,0.401012124436,-0.0155026020966,0.0698417521087,0.999999982885,5.46039749262e-05,-0.000176435841707,1.09444000769e-05,1793255966829399040
+77,1.283333333,BASELINE,804,760,735,738.324774981,693,661,929,811,838,671,643,673,0.401010941234,-0.0155020213823,0.0698405535151,0.99999998265,5.52744770735e-05,-0.000177576568023,1.05953920964e-05,1793255966846065408
+78,1.300000000,BASELINE,804,760,735,738,693.255958313,661,929,811,838,671,643,672.744041687,0.40100997638,-0.0155023262811,0.0698397848841,0.99999998245,5.46833294449e-05,-0.000178879849676,1.05965108266e-05,1793255966862731776
+79,1.316666667,BASELINE,804,760,735,738,693.844107832,661,929,811,838,671,643,672.155892168,0.401009294908,-0.0155037805581,0.0698395742733,0.999999982292,5.24547707532e-05,-0.000180394100957,1.10520356653e-05,1793255966879398400
+80,1.333333333,BASELINE,803.574161237,760,735,738,693.574161237,661,929,811,838,671,643,672.425838763,0.401010107644,-0.0155040367631,0.0698404541635,0.999999982568,5.30080767715e-05,-0.000178676698622,1.13145871561e-05,1793255966896065024
+81,1.350000000,BASELINE,803.005226106,760,735,738,693.005226106,661,929,811,838,671,643,673,0.401011446137,-0.0155038707909,0.069841711502,0.999999982989,5.45419184201e-05,-0.000175828456103,1.15054933279e-05,1793255966912731648
+82,1.366666667,BASELINE,803.58146749,760,735,738,693.58146749,661,929,811,838,671,643,673,0.401011350701,-0.0155047868875,0.0698412384161,0.999999982875,5.3591719449e-05,-0.00017676561179,1.14723966662e-05,1793255966929398784
+83,1.383333333,BASELINE,804,760,735,738,694,661,929,811,838,671,643,673,0.4010109934,-0.0155051984081,0.0698407142642,0.999999982744,5.31315217786e-05,-0.000177641700988,1.14664236644e-05,1793255966946065920
+84,1.400000000,BASELINE,804,760,735,738,694,661,929,811,838,671,643,673,0.401009941149,-0.0155042708697,0.069840054592,0.999999982572,5.39717043528e-05,-0.000178355730272,1.15324322541e-05,1793255966962732800
+85,1.416666667,BASELINE,804,760,735,738.310772559,693.689227441,661,929,811,838,671,643,673,0.401009707316,-0.0155033164794,0.0698399345999,0.999999982602,5.42259069738e-05,-0.000178122564352,1.13048387116e-05,1793255966979399680
+86,1.433333333,BASELINE,804,760,735,738.905301952,693.094698048,661,929,811,838,671,643,673,0.401010220757,-0.0155023375717,0.0698403073729,0.999999982818,5.39450693325e-05,-0.000177024543678,1.08091661183e-05,1793255966996065792
+87,1.450000000,BASELINE,804,760,735,739,693,661,929,811,838,671,643,673,0.401010342696,-0.0155027983667,0.0698403079347,0.999999982778,5.35265656032e-05,-0.000177376889557,1.07553022889e-05,1793255967012732160
+88,1.466666667,BASELINE,804,760,735,738.935428061,693.064571939,661,929,811,838,671,643,673,0.401010598591,-0.0155032884221,0.0698404034765,0.999999982729,5.34502558899e-05,-0.000177675830453,1.07892140294e-05,1793255967029399040
+89,1.483333333,BASELINE,804,760,735,738.360304743,693.639695257,661,929,811,838,671,643,673,0.4010125001,-0.0155018531489,0.0698418075715,0.999999982978,5.62857983247e-05,-0.000175379857952,1.08553098607e-05,1793255967046065408
+90,1.500000000,BASELINE,804,760,735,738.218997706,693.781002294,661,929,811,838,671,643,673,0.401012547178,-0.0155016117848,0.0698419152957,0.999999982978,5.68672986352e-05,-0.000175182819685,1.1040123808e-05,1793255967062732032
+91,1.516666667,BASELINE,804,760,735,738.805309551,693.194690449,661,929,811,838,671,643,673,0.401009483909,-0.0155033729064,0.0698398486804,0.999999982562,5.36682040923e-05,-0.000178506221344,1.14240578358e-05,1793255967079399168
+92,1.533333333,BASELINE,804,760,735,739,693.389555173,661,929.389555173,811,838,671.389555173,643,673,0.401009091164,-0.015503949125,0.0698398503481,0.999999982597,5.28270448124e-05,-0.000178559759778,1.14377630921e-05,1793255967096066560
+93,1.550000000,BASELINE,804,760,735,739,693.972773648,661,929.972773648,811,838,671.972773648,643,673,0.401010026042,-0.0155039362814,0.0698408802411,0.999999982861,5.31581082273e-05,-0.000176987720032,1.12674130013e-05,1793255967112733440
+94,1.566666667,BASELINE,804,760,735,739,694,661,929.451338524,811,838,671.451338524,643,673,0.401010062581,-0.0155040714371,0.0698403483123,0.999999982898,5.13761982747e-05,-0.000177317642667,1.10870126088e-05,1793255967129399296
+95,1.583333333,BASELINE,804,760,734.876170257,738.876170257,693.876170257,661,929,811,838,671,643,673.123829743,0.401010504017,-0.0155041891754,0.0698402424824,0.999999982993,4.99432365944e-05,-0.000177196474345,1.10025096799e-05,1793255967146065408
+96,1.600000000,BASELINE,804,760,734.302312294,738.302312294,693.302312294,661,929,811,838,671,643,673.697687706,0.401012576825,-0.0155042172759,0.0698419631523,0.999999983349,5.01544757579e-05,-0.000175097445402,1.12683106464e-05,1793255967162732032
+97,1.616666667,BASELINE,804,760,734.278864205,738.278864205,693.278864205,661,929,811,838,671,643,673.721135795,0.40101331892,-0.0155043760439,0.069842700488,0.999999983492,4.99918515775e-05,-0.000174329212917,1.12313300885e-05,1793255967179398912
+98,1.633333333,BASELINE,804,760,734.868188408,738.868188408,693.868188408,661,929,811,838,671,643,673.131811592,0.40101257953,-0.015504680284,0.0698423430757,0.9999999834,4.94130046822e-05,-0.000175042558542,1.08572623235e-05,1793255967196065536
+99,1.650000000,BASELINE,804,760,735,739,694,661,929,811,838,671,643,673,0.401012538762,-0.0155035671486,0.0698423216302,0.999999983296,5.12772730095e-05,-0.000175103574143,1.08209951616e-05,1793255967212732160
+100,1.666666667,BASELINE,804,760,735,739,693.970542392,661,929.029457608,811,838,671,643,673,0.401012617397,-0.0155021293292,0.0698423216249,0.999999983177,5.36705846164e-05,-0.000175066234738,1.08673275711e-05,1793255967229398784
+101,1.683333333,BASELINE,804,760,735,739,693.394505004,661,929.605494996,811,838,671,643,673,0.401011176917,-0.0155022439625,0.0698409234534,0.999999982939,5.28199625151e-05,-0.000176691115639,1.06404886883e-05,1793255967246066176
+102,1.700000000,BASELINE,804,760,735,738.819177054,693,661,929.819177054,811,838.180822946,671,643,673,0.401010166725,-0.0155029831889,0.0698401142856,0.999999982828,5.15062094754e-05,-0.000177707887931,1.0549588616e-05,1793255967262733056
+103,1.716666667,BASELINE,804,760,735,738.245390925,693,661,929.245390925,811,838.754609075,671,643,673,0.401010091629,-0.0155050797767,0.0698405851372,0.999999982997,4.91859835724e-05,-0.000177403122554,1.07541098625e-05,1793255967279398912
+104,1.733333333,BASELINE,804,760,735,738.340433388,693.340433388,661,929,811,838.659566612,671,643,673,0.401010474773,-0.0155047006695,0.0698410913396,0.999999983016,5.05427211515e-05,-0.000176903341217,1.0847085965e-05,1793255967296065536
+105,1.750000000,BASELINE,804,760,735,738.935253209,693.935253209,661,929,811,838.064746791,671,643,673,0.401011200335,-0.0155024716168,0.0698416239577,0.999999982915,5.46470433541e-05,-0.000176257835551,1.08567107715e-05,1793255967312732160
+106,1.766666667,POSE1_TO_POSE2_PRESS,804,760,735,738,693,661,929,811,838,671,643,673,0.401010289879,-0.0155034114125,0.0698417199698,0.999999983025,5.35334382306e-05,-0.000175972846033,1.08759162463e-05,1793255967343749376
+107,1.783333333,POSE1_TO_POSE2_PRESS,804,760,735,738.579132736,693,661,929,811,838,671,643,673,0.401010522639,-0.0155021171585,0.0698411622495,0.999999982802,5.46025887572e-05,-0.000176911286034,1.08577297504e-05,1793255967360416768
+108,1.800000000,POSE1_TO_POSE2_PRESS,804,760,735,739,693,661,929,811,838,671,643,673,0.40101079724,-0.0155011369127,0.0698408449544,0.999999982678,5.53791329989e-05,-0.000177365924268,1.08700398869e-05,1793255967377083904
+109,1.816666667,POSE1_TO_POSE2_PRESS,804,760,735,739,693,661,929,811,838,671,643,673,0.401011183108,-0.0155009916933,0.0698411670101,0.999999982824,5.53775643325e-05,-0.000176534013061,1.09634481773e-05,1793255967393749760
+110,1.833333333,POSE1_TO_POSE2_PRESS,804,760,735,739,693,661,929,811,838,671,643,673,0.401010761208,-0.0155012211924,0.0698411043772,0.999999982816,5.53850870164e-05,-0.000176579947553,1.09282756748e-05,1793255967410416640
+111,1.850000000,POSE1_TO_POSE2_PRESS,804,760,735,739,693,661,929,811,838,671,643,673,0.401009762758,-0.0155017181493,0.0698407671702,0.999999982698,5.53990987121e-05,-0.000177252450339,1.08013277654e-05,1793255967427083776
+112,1.866666667,POSE1_TO_POSE2_PRESS,804,760,735,739,693.490832856,661,929,811,838,671,643,673,0.401011125977,-0.0155028683605,0.0698416330656,0.999999983005,5.40441650668e-05,-0.000175923184114,1.09330291261e-05,1793255967443750144
+113,1.883333333,POSE1_TO_POSE2_PRESS,804,760,735,739,693.931976737,661.068023263,929,811,838,671,643,673,0.401012425105,-0.0155039481117,0.0698424731011,0.999999983266,5.27984933604e-05,-0.000174803938156,1.11015756078e-05,1793255967460416256
+114,1.900000000,POSE1_TO_POSE2_PRESS,804,760,735,739,693.356469817,661.643530183,929,811,838,671,643,673,0.401010138076,-0.0155036425002,0.0698415368953,0.999999982648,5.41695324335e-05,-0.000177885917437,1.12046137071e-05,1793255967477082880
+115,1.916666667,POSE1_TO_POSE2_PRESS,804,760,735,738.775294308,693,661.775294308,929,811,838,671,643,673,0.401008450163,-0.0155036981257,0.0698405205712,0.999999981848,5.47132671295e-05,-0.000182167747269,1.1235178196e-05,1793255967493749760
+116,1.933333333,POSE1_TO_POSE2_PRESS,804,760,735,738.184893565,693,661.184893565,929,811,838,671,643,673,0.401007737276,-0.0155043416429,0.0698393738597,0.999999980737,5.39106133808e-05,-0.000188402261689,1.11477962153e-05,1793255967510416640
+117,1.950000000,POSE1_TO_POSE2_PRESS,804,760,735,738.396842264,693,661,929,811,838,671,643,673,0.401017039605,-0.0155052602837,0.0698438729402,0.999999980385,5.21935851e-05,-0.000190722865004,1.14317479954e-05,1793255967527083264
+118,1.966666667,POSE1_TO_POSE2_PRESS,804,760,735,738.974627321,693,661,929,811,838,671,643,673,0.401030908437,-0.0155063043687,0.0698509462559,0.999999980386,5.00596417757e-05,-0.000191258895817,1.18850117945e-05,1793255967543749888
+119,1.983333333,POSE1_TO_POSE2_PRESS,804,760,735,739,693.550583829,661,929,811,838.550583829,671,643,673,0.401068725371,-0.0155071866009,0.0698641327771,0.999999982568,5.214278545e-05,-0.00017883499213,1.27770611905e-05,1793255967560416512
+120,2.000000000,POSE1_TO_POSE2_PRESS,804,760,735,738.870858363,694,661,929,811,838.870858363,671,643,673,0.401112098595,-0.0155085639166,0.0698771344381,0.999999984766,5.35127401624e-05,-0.000165593662321,1.35281719891e-05,1793255967577082880
+121,2.016666667,POSE1_TO_POSE2_PRESS,804,760,735,738.282757096,694,661,929,811,838.282757096,671,643,673,0.401171309319,-0.0155117271421,0.0698884812393,0.999999987086,5.16597030005e-05,-0.00015156276269,1.37067730941e-05,1793255967593749504
+122,2.033333333,POSE1_TO_POSE2_PRESS,804.300731861,760,735,738.300731861,693.699268139,661,929,811,838,671,643,673,0.401243313501,-0.0155147182495,0.0698995861457,0.999999989062,5.11988673013e-05,-0.000138085928844,1.36665726058e-05,1793255967610416128
+123,2.050000000,POSE1_TO_POSE2_PRESS,804.879949658,760,735,738.879949658,693.120050342,661,929,811,838,671,643,673,0.401327164771,-0.0155175499705,0.0699104670499,0.999999990729,5.20272483758e-05,-0.000125122175926,1.34237558423e-05,1793255967627083008
+124,2.066666667,POSE1_TO_POSE2_PRESS,804.543634215,760.456365785,735,739,693,661,929,811,838,671,643,673,0.401426676961,-0.0155204169556,0.0699153812681,0.999999991425,5.2627741736e-05,-0.000119341495462,1.17215446737e-05,1793255967643749376
+125,2.083333333,POSE1_TO_POSE2_PRESS,804,760.968029231,734.968029231,739,693,661,929,811,838,671,643,673,0.401531557787,-0.0155232267307,0.0699186696288,0.999999991877,5.31767188969e-05,-0.000115437104301,9.60027133188e-06,1793255967660416256
+126,2.100000000,POSE1_TO_POSE2_PRESS,804,760.393758046,734.393758046,739,693,661,929,811,838,671,643,673,0.401658049653,-0.0155249096994,0.0699208409466,0.99999999231,5.38625070248e-05,-0.000111503184123,6.84290323929e-06,1793255967677082880
+127,2.116666667,POSE1_TO_POSE2_PRESS,804,760,734.1859788,739,693,661,929,811,838,671,643,673,0.401791958656,-0.0155269671218,0.0699224781085,0.999999992506,5.5226229147e-05,-0.000109189766008,4.07997562343e-06,1793255967693750016
+128,2.133333333,POSE1_TO_POSE2_PRESS,804,760,734.777637961,739,693,661,929,811,838,671,643,673,0.401942046837,-0.0155298413491,0.0699229501023,0.999999992218,5.80687461165e-05,-0.000110411191419,1.30492123696e-06,1793255967710417152
+129,2.150000000,POSE1_TO_POSE2_PRESS,804,760,735,738.639077427,693,661,929,811,838,671,643.360922573,673,0.402114534452,-0.0155321803279,0.0699244488893,0.999999992357,5.77611523664e-05,-0.000109288667131,-2.49390013559e-06,1793255967727083520
+130,2.166666667,POSE1_TO_POSE2_PRESS,804,760,735,738.060835261,693,661,929,811,838,671,643.939164739,673,0.402300509283,-0.0155341970216,0.0699265659316,0.999999992735,5.55568064333e-05,-0.000106754798169,-6.90915488386e-06,1793255967743749632
+131,2.183333333,POSE1_TO_POSE2_PRESS,804,760,735,738.51436121,693,661,929,811,838,671,643.48563879,673,0.402522603039,-0.0155346429418,0.0699280301787,0.999999993055,5.21022926906e-05,-0.000105086902283,-1.1481635429e-05,1793255967760416000
+132,2.200000000,POSE1_TO_POSE2_PRESS,804,760,735,739,693.091328393,661.091328393,929.091328393,811,838.091328393,671,643,673,0.402753581622,-0.0155337221751,0.0699301698428,0.999999993649,4.43073138234e-05,-0.000102365495042,-1.60988798624e-05,1793255967777082368
+133,2.216666667,POSE1_TO_POSE2_PRESS,804,760,735,739,693.679885952,661.679885952,929.679885952,811,838.679885952,671,643,673,0.403009811816,-0.0155263661186,0.0699364046334,0.999999995331,1.36813448007e-05,-9.33539972974e-05,-2.08591927181e-05,1793255967793749248
+134,2.233333333,POSE1_TO_POSE2_PRESS,804,760,735,739,694,661.735748291,929.735748291,811,839,671,643,673,0.403288588619,-0.0155220027117,0.0699437281397,0.999999996307,-2.31798196555e-06,-8.21460552877e-05,-2.51587979983e-05,1793255967810415872
+135,2.250000000,POSE1_TO_POSE2_PRESS,804,760,735,739,694,661.156381215,929.156381215,811,839,671,643,673,0.403594251831,-0.0155212079855,0.0699523499191,0.999999997248,-8.75301498786e-07,-6.83188939773e-05,-2.89090175888e-05,1793255967827082752
+136,2.266666667,POSE1_TO_POSE2_PRESS,804,760.421093604,735,739,693.578906396,661,929,811,839,671,643,673,0.403921905683,-0.0155257781967,0.0699559964938,0.999999997503,2.25036829963e-07,-6.43927291844e-05,-2.90971041454e-05,1793255967843749376
+137,2.283333333,POSE1_TO_POSE2_PRESS,804,760.997868827,735,739,693.002131173,661,929,811,839,671,643,673,0.404257689642,-0.0155323318676,0.0699578036961,0.999999997552,1.19880854402e-06,-6.41270410351e-05,-2.79682420035e-05,1793255967860415744
+138,2.300000000,POSE1_TO_POSE2_PRESS,804,761,735.570171307,739,693,661.570171307,929,811.570171307,839,671,643,673,0.404647789838,-0.0155317228916,0.0699631314665,0.999999997956,-4.71275867803e-06,-5.64131245046e-05,-2.97370891779e-05,1793255967877082368
+139,2.316666667,POSE1_TO_POSE2_PRESS,804,760.852376025,735.852376025,739,693.147623975,661.852376025,929,811.852376025,839,671,643,673,0.405043180414,-0.0155309771283,0.0699675888773,0.999999998222,-9.01978643202e-06,-4.98484036758e-05,-3.14753956908e-05,1793255967893748992
+140,2.333333333,POSE1_TO_POSE2_PRESS,804,760.259334015,735.259334015,739,693.740665985,661.259334015,929,811.259334015,839,671,643,673,0.405453925506,-0.0155298987946,0.0699693808022,0.99999999832,-8.40847377005e-06,-4.68344376223e-05,-3.30891277505e-05,1793255967910415616
+141,2.350000000,POSE1_TO_POSE2_PRESS,804.325357046,760,735,739,694,661,929,811,839,671,643,673,0.405884204424,-0.0155284450734,0.0699654457773,0.999999997981,-6.12535363973e-06,-5.30086067276e-05,-3.44972729961e-05,1793255967927082240
+142,2.366666667,POSE1_TO_POSE2_PRESS,804.903558408,760,735,739,694,661,929,811,839,671,643,673,0.406329663683,-0.0155266996277,0.069957060175,0.999999997159,-2.5430237809e-06,-6.63231395733e-05,-3.5745650983e-05,1793255967943748864
+143,2.383333333,POSE1_TO_POSE2_PRESS,804.518854642,760,735,739,693.518854642,661,929.481145358,811,839,671,643,673,0.406812740759,-0.0155241634346,0.0699395972544,0.999999995193,-3.10799723009e-06,-9.00539082005e-05,-3.86654514725e-05,1793255967960415744
+144,2.400000000,POSE1_TO_POSE2_PRESS,804.059459674,760.059459674,735,739,693.059459674,661,929.940540326,811,839,671,643,673,0.40731178237,-0.0155218371846,0.0699234025867,0.99999999298,-4.09787380099e-06,-0.000110848799421,-4.16579602445e-05,1793255967977082368
+145,2.416666667,POSE1_TO_POSE2_PRESS,804.645302412,760.645302412,735,739,693.645302412,661,929.354697588,811,839,671,643,673,0.407885488334,-0.0155227708756,0.0699345223061,0.999999995302,-1.49946337654e-06,-8.71933728983e-05,-4.2332042831e-05,1793255967993749248
+146,2.433333333,POSE1_TO_POSE2_PRESS,805,760.77221599,735,739,694,661.22778401,929,811,839,671.22778401,643.22778401,673,0.408477306903,-0.0155244391833,0.0699471657872,0.999999997287,-2.78385493843e-06,-5.9907314973e-05,-4.27637666221e-05,1793255968010416384
+147,2.450000000,POSE1_TO_POSE2_PRESS,805,760.194892174,735,739,694,661.805107826,929,811,839,671.805107826,643.805107826,673,0.409096919646,-0.0155272347775,0.0699621475147,0.999999998667,-1.00264956801e-05,-2.70499710122e-05,-4.28235852185e-05,1793255968027083776
+148,2.466666667,POSE1_TO_POSE2_PRESS,805,760,735,739,694,662,929.381837748,811,839,671.618162252,643.618162252,673,0.409701850034,-0.0155270185318,0.0699588525725,0.999999998476,-1.24485656849e-05,-3.07105159822e-05,-4.41570365616e-05,1793255968043750400
+149,2.483333333,POSE1_TO_POSE2_PRESS,805,760,735,739,694,662,929.958264996,811,839,671.041735004,643.041735004,673,0.410299298083,-0.015525267413,0.0699462436004,0.999999997455,-1.24140097137e-05,-5.29810546953e-05,-4.61395477693e-05,1793255968060416256
+150,2.500000000,POSE1_TO_POSE2_PRESS,805,760,735,739,694,662,929.462635794,811,839,671,643,673.537364206,0.410970857933,-0.0155245292992,0.0699479439063,0.999999997489,-1.18308659644e-05,-5.23338628223e-05,-4.62903108455e-05,1793255968077082880
+151,2.516666667,POSE1_TO_POSE2_PRESS,805,760.118359609,735,739,694,662,929,811,839,671,643,673.881640391,0.411663912863,-0.0155243146257,0.0699569633722,0.99999999812,-1.14445724899e-05,-3.89121478942e-05,-4.59873270259e-05,1793255968093749248
+152,2.533333333,POSE1_TO_POSE2_PRESS,805,760.706046797,735,739,694,662,929,811,839,671,643,673.293953203,0.41241926332,-0.0155258620024,0.0699905764609,0.999999998777,-1.20086344862e-05,1.80707987587e-05,-4.44520521425e-05,1793255968110416128
+153,2.550000000,POSE1_TO_POSE2_PRESS,805,761,735,739,694,662,929,811,839,671,643,673,0.41318169651,-0.0155275715965,0.0700177789874,0.999999997098,-1.41094071818e-05,6.10070217798e-05,-4.33847589756e-05,1793255968127083520
+154,2.566666667,POSE1_TO_POSE2_PRESS,805,761,735,739,694,662,929,811,839,671,643,673,0.413951217812,-0.0155294435293,0.07003856617,0.999999994887,-1.77480379102e-05,8.98860413455e-05,-4.27857967967e-05,1793255968143750912
+155,2.583333333,POSE1_TO_POSE2_PRESS,805,761,735,739,694,662,929,811,839,671,643,673,0.414668233242,-0.0155264943608,0.0700084553786,0.999999998162,-2.11319516321e-05,3.32221107398e-05,-4.60959874578e-05,1793255968160417536
+156,2.600000000,POSE1_TO_POSE2_PRESS,805,761,734.980687831,739,694,662,929.019312169,811.019312169,839,671,643,673,0.415372949031,-0.01552215324,0.0699637895755,0.999999997306,-2.4070222523e-05,-4.74220678288e-05,-5.05921966435e-05,1793255968177084416
+157,2.616666667,POSE1_TO_POSE2_PRESS,805,761,734.405472021,739,694,662,929.594527979,811.594527979,839,671,643,673,0.416165992712,-0.015518363403,0.0699289822338,0.999999993517,-1.63266549675e-05,-9.76230644185e-05,-5.62926612316e-05,1793255968193750784
+158,2.633333333,POSE1_TO_POSE2_PRESS,805,760.825459649,734.174540351,739,694,662,929.825459649,811.825459649,839,671,643,673,0.416982876988,-0.0155158122963,0.0699141897957,0.999999991094,-1.35681294354e-05,-0.000118622070136,-5.9631426367e-05,1793255968210417152
+159,2.650000000,POSE1_TO_POSE2_PRESS,805,760.233989621,734.766010379,739,694,662,929.233989621,811.233989621,839,671,643,673,0.417856709949,-0.0155162201814,0.0699472075492,0.999999995658,-2.27175210674e-05,-6.98654179091e-05,-5.7328730358e-05,1793255968227083520
+160,2.666666667,POSE1_TO_POSE2_PRESS,805,760.349488986,735,739.349488986,694.349488986,662,929,811.349488986,839,671,643,673,0.418736581227,-0.0155178770783,0.0699750789822,0.999999997734,-2.49759840209e-05,-2.86557690647e-05,-5.55548133256e-05,1793255968243749888
+161,2.683333333,POSE1_TO_POSE2_PRESS,805,760.927736769,735,739.927736769,694.927736769,662,929,811.927736769,839,671,643,673,0.419620404863,-0.0155203515187,0.0699995818782,0.999999998248,-2.27239738557e-05,7.61396991369e-06,-5.41270098487e-05,1793255968260416768
+162,2.700000000,POSE1_TO_POSE2_PRESS,805,761,735,739.496571756,694.496571756,662,929,812,839,671,643,673,0.420522631862,-0.0155235156342,0.0700216539297,0.999999997365,-2.78657760128e-05,4.18152751091e-05,-5.23914793332e-05,1793255968277083648
+163,2.716666667,POSE1_TO_POSE2_PRESS,805,761,735,739,694.080436582,662,929,811.919563418,839,671,643,673,0.421422879203,-0.0155255667798,0.0700369828951,0.999999996006,-3.33745012624e-05,6.51117906325e-05,-5.13190112978e-05,1793255968293750528
+164,2.733333333,POSE1_TO_POSE2_PRESS,805,761,735,739,694.668049861,662,929,811.331950139,839,671,643,673,0.422294071508,-0.0155199792602,0.0700119836642,0.999999997676,-3.4538623841e-05,2.15129662597e-05,-5.47044609746e-05,1793255968310416640
+165,2.750000000,POSE1_TO_POSE2_PRESS,805,761,735,739,694.747745656,662,929,811,839,671,643,673,0.423141269932,-0.0155149350576,0.069960526633,0.999999995746,-3.6153224454e-05,-5.90239036886e-05,-6.09729790395e-05,1793255968327083008
+166,2.766666667,POSE1_TO_POSE2_PRESS,805,761,735,739,694.167967035,662,929,811,839,671,643,673,0.423957315085,-0.0155105962908,0.0698747170802,0.999999979163,-3.83527206146e-05,-0.000187520732921,-7.09848413851e-05,1793255968343749632
+167,2.783333333,POSE1_TO_POSE2_PRESS,805,761,735,739.409595916,694,662,929,811.409595916,839.409595916,671,643,673,0.4248792344,-0.0155121481829,0.0698694966703,0.999999978708,-4.97879912716e-05,-0.000186447128245,-7.30908963785e-05,1793255968360416256
+168,2.800000000,POSE1_TO_POSE2_PRESS,805,761,735,739.98625512,694,662,929,811.98625512,839.98625512,671,643,673,0.425844336921,-0.0155161027183,0.0698971464349,0.999999986517,-6.49902887639e-05,-0.000132525180437,-7.19723822232e-05,1793255968377082880
+169,2.816666667,POSE1_TO_POSE2_PRESS,805.555995033,761,734.444004967,739.444004967,694,662,929,812,839.444004967,671,643,673,0.426796528538,-0.0155211868964,0.0699565785801,0.999999994627,-5.8863025891e-05,-5.42189292656e-05,-6.58887273134e-05,1793255968393749504
+170,2.833333333,POSE1_TO_POSE2_PRESS,806,761,734.131154655,739.131154655,694.131154655,662,929,812,839,671,643,673,0.42775882456,-0.0155258150572,0.0700111350474,0.999999996539,-5.37461112829e-05,1.97854854129e-05,-6.03551707196e-05,1793255968410416640
+171,2.850000000,POSE1_TO_POSE2_PRESS,806,761,734.72607591,739.72607591,694.72607591,662,929,812,839,671,643,673,0.428757964728,-0.0155287331938,0.0700457068695,0.99999999398,-5.40434226375e-05,7.64731260459e-05,-5.71954715417e-05,1793255968427083008
+172,2.866666667,POSE1_TO_POSE2_PRESS,805.685847851,761,735,739.685847851,695,662,929,812,839,671,643,673,0.429710186163,-0.0155288179469,0.0700523690756,0.999999992976,-5.53610551958e-05,8.76409118703e-05,-5.74700088106e-05,1793255968443749632
+173,2.883333333,POSE1_TO_POSE2_PRESS,805.10361286,761,735,739.10361286,695,662,929,812,839,671,643,673,0.430622369281,-0.0155264848221,0.070035214511,0.999999994705,-5.75493825022e-05,5.99641667168e-05,-6.06751640708e-05,1793255968460416000
+174,2.900000000,POSE1_TO_POSE2_PRESS,805,761,735,739.470403077,694.529596923,662,929.470403077,812,839,671,643,673,0.431431443734,-0.0155205946796,0.0699614617985,0.999999994051,-5.32812616041e-05,-6.81244797654e-05,-6.64642119217e-05,1793255968477082624
+175,2.916666667,POSE1_TO_POSE2_PRESS,805.042885213,761,735,740,694,662,930,812,839.042885213,671,643,673.042885213,0.432230149161,-0.0155147951748,0.069883825147,0.999999975703,-4.87428299212e-05,-0.000202478260637,-7.22589078551e-05,1793255968493749248
+176,2.933333333,POSE1_TO_POSE2_PRESS,805.618415657,761,735,740,694,662,930,812,839.618415657,671,643,673.618415657,0.433177301972,-0.0155196853721,0.0699101276633,0.999999985309,-5.82069002138e-05,-0.000144663399873,-7.11763084996e-05,1793255968510415872
+177,2.950000000,POSE1_TO_POSE2_PRESS,806,761,735,740,694.200239841,662,930,812,840,671,643,674,0.43413151711,-0.0155221899793,0.0699486236066,0.999999992922,-6.36400850141e-05,-7.33854678229e-05,-6.86998382161e-05,1793255968527082752
+178,2.966666667,POSE1_TO_POSE2_PRESS,806,761,735,740,694.794446914,662,930,812,840,671,643,674,0.435099627382,-0.0155200009944,0.0700111098387,0.999999995819,-6.114259792e-05,2.43807541891e-05,-6.34809590412e-05,1793255968543749376
+179,2.983333333,POSE1_TO_POSE2_PRESS,805.623941771,761,735,740,695,662,930,812,839.623941771,671,643,673.623941771,0.436015053169,-0.0155219279618,0.0700388856669,0.999999993608,-6.45386686704e-05,6.94146110391e-05,-6.165514471e-05,1793255968560416512
+180,3.000000000,POSE1_TO_POSE2_PRESS,805.048992192,761,735,740,695,662,930,812,839.048992192,671,643,673.048992192,0.436902614892,-0.0155260317924,0.0700483036986,0.999999991831,-7.10517508616e-05,8.65591342203e-05,-6.16238701215e-05,1793255968577083904
+181,3.016666667,POSE1_TO_POSE2_PRESS,805.525869802,761.525869802,735,740,695,662,929.474130198,812,839.525869802,671,643,673,0.437729694187,-0.0155245473021,0.070017051839,0.999999993617,-7.2692973824e-05,5.66014412911e-05,-6.54136286081e-05,1793255968593750272
+182,3.033333333,POSE1_TO_POSE2_PRESS,806,761.896342309,735,740,695,662,929.103657691,812,840,671.103657691,643,673,0.438531698953,-0.015521708709,0.0699760103628,0.999999994858,-7.33974071433e-05,7.47851994382e-06,-6.9574499342e-05,1793255968610416128
+183,3.050000000,POSE1_TO_POSE2_PRESS,806,761.304743143,735,740,695,662,929.695256857,812,840,671.695256857,643,673,0.4392421918,-0.0155149463574,0.069906719462,0.999999988513,-7.18283249096e-05,-0.000111206668241,-7.38068650484e-05,1793255968627083008
+184,3.066666667,POSE1_TO_POSE2_PRESS,805.719280764,761.280719236,735,740,695,662,930,812,840,671.719280764,643,673.280719236,0.439997785963,-0.0155125124407,0.0698658322797,0.99999997862,-7.13970344863e-05,-0.000178264075067,-7.67045715663e-05,1793255968643749376
+185,3.083333333,POSE1_TO_POSE2_PRESS,805.140337873,761.859662127,735,740,695,662,930,812,840,671.140337873,643,673.859662127,0.440801293715,-0.0155146768614,0.0698551199514,0.999999976199,-7.21744844795e-05,-0.000190474412684,-7.81843959763e-05,1793255968660416000
+186,3.100000000,POSE1_TO_POSE2_PRESS,805.43520079,762,735,740,694.56479921,662,930,812,840,671,643,674,0.44160962321,-0.0155241323988,0.06989370747,0.999999984742,-8.52078906069e-05,-0.000132593549278,-7.53308878198e-05,1793255968677082880
+187,3.116666667,POSE1_TO_POSE2_PRESS,806,762,735,740,694,662,930,811.990122059,840,671,643,673.990122059,0.44241731261,-0.0155358596707,0.0699470774594,0.999999990807,-0.000102046217163,-5.39712883271e-05,-7.11324649011e-05,1793255968693749760
+188,3.133333333,POSE1_TO_POSE2_PRESS,806,762,735,740,694,662,930,811.402119947,840,671,643,673.402119947,0.443097241311,-0.0155440073099,0.0699424054961,0.999999988578,-0.000112063436697,-7.39830349964e-05,-6.9368580584e-05,1793255968710416128
+189,3.150000000,POSE1_TO_POSE2_PRESS,806,762,735.183166996,740,694,662,930,811,840,671,643,673,0.44376461431,-0.0155508366727,0.0699226916169,0.999999983672,-0.000120757658402,-0.000115056733946,-6.95447749962e-05,1793255968727082752
+190,3.166666667,POSE1_TO_POSE2_PRESS,806,762,735.762580311,740,694,662,930,811,840,671,643,673,0.44440482561,-0.0155548142013,0.0698704374654,0.999999968915,-0.000126589831962,-0.000201693890804,-7.39179533732e-05,1793255968743749120
+191,3.183333333,POSE1_TO_POSE2_PRESS,805.659251594,762,735.659251594,740,693.659251594,661.659251594,930,811,840,671.340748406,643,673.340748406,0.445039269152,-0.0155599841757,0.0698274952978,0.999999952683,-0.00013723687402,-0.000264017096187,-7.8068266279e-05,1793255968760415744
+192,3.200000000,POSE1_TO_POSE2_PRESS,805.081947995,762,735.081947995,740,693.081947995,661.081947995,930,811,840,671.918052005,643,673.918052005,0.445669708547,-0.0155659819724,0.0697910177218,0.999999937315,-0.000151226505766,-0.00030946100578,-8.20638608473e-05,1793255968777082368
+193,3.216666667,POSE1_TO_POSE2_PRESS,805.491387953,762,735.491387953,740,692.508612047,661,930,810.508612047,840,671.508612047,643,674,0.446250961839,-0.0155735300644,0.0697750093709,0.99999992742,-0.000161706341086,-0.000334809543869,-8.31479626343e-05,1793255968793749248
+194,3.233333333,POSE1_TO_POSE2_PRESS,805.933877467,762,735.933877467,740,692,661,930,810,840,671,642.933877467,674,0.446817628384,-0.0155806429601,0.0697615099701,0.999999917608,-0.00017015441632,-0.000358940293716,-8.36243324916e-05,1793255968810415872
+195,3.250000000,POSE1_TO_POSE2_PRESS,805.342828791,762,735.342828791,740,692,661,930,810,840,671,642.342828791,674,0.44733309231,-0.015582264938,0.069741045733,0.999999902671,-0.000167082462693,-0.0003997950216,-8.30998249983e-05,1793255968827082752
+196,3.266666667,POSE1_TO_POSE2_PRESS,805.243081831,762,735,740,692,660.756918169,930,809.756918169,840,671,642,674,0.447855627815,-0.0155854501024,0.0697301469586,0.99999989367,-0.000166706566492,-0.00042206338037,-8.20412415773e-05,1793255968843749376
+197,3.283333333,POSE1_TO_POSE2_PRESS,805.821895983,762,735,740,692,660.178104017,930,809.178104017,840,671,642,674,0.448387930186,-0.0155907942608,0.0697324595189,0.999999894683,-0.000170054328903,-0.000418661184243,-8.02450197117e-05,1793255968860416512
+198,3.300000000,POSE1_TO_POSE2_PRESS,806,762,735,740,692,660.398303405,930,808.601696595,840,671,642,674,0.448910587666,-0.0155991371575,0.0697480217206,0.999999902539,-0.000178613891027,-0.000396082909843,-7.83465236392e-05,1793255968877083392
+199,3.316666667,POSE1_TO_POSE2_PRESS,806,762,735,740,692,660.973641155,930,808.026358845,840,671,642,674,0.449428958318,-0.015608812907,0.0697694730048,0.999999912522,-0.00018948994753,-0.000364981422557,-7.64025694119e-05,1793255968893749760
+200,3.333333333,POSE1_TO_POSE2_PRESS,805.449430538,762.550569462,735,740,692,660.449430538,930,808,840,671.550569462,642,674,0.449861876361,-0.0156145212531,0.0697681246765,0.999999911532,-0.000191652413335,-0.000366497060943,-7.67171863111e-05,1793255968910416384
+201,3.350000000,POSE1_TO_POSE2_PRESS,805.131007075,763,735,740,691.868992925,660,930,807.868992925,840,671.868992925,642,674,0.450271535904,-0.0156189925799,0.0697590878561,0.999999905856,-0.000194449382128,-0.000380103446725,-7.74515410086e-05,1793255968927083008
+202,3.366666667,POSE1_TO_POSE2_PRESS,805.723538731,763,735,740,691.276461269,660,930,807.276461269,840,671.276461269,642,674,0.450613712506,-0.0156197771001,0.0697268218049,0.999999883877,-0.000200955540282,-0.000430787132383,-7.92825529384e-05,1793255968943750144
+203,3.383333333,POSE1_TO_POSE2_PRESS,805.692640972,762.692640972,735,740,690.692640972,659.692640972,930,806.692640972,840,671,642,674,0.450947985489,-0.0156210000614,0.0696958045181,0.999999862578,-0.000206574708293,-0.000474951658319,-8.11946958986e-05,1793255968960417024
+204,3.400000000,POSE1_TO_POSE2_PRESS,805.116440383,762.116440383,735,740,690.116440383,659.116440383,930,806.116440383,840,671,642,674,0.451275345297,-0.0156226065192,0.0696658795056,0.999999842395,-0.000211418041265,-0.000513413986529,-8.31778026815e-05,1793255968977083392
+205,3.416666667,POSE1_TO_POSE2_PRESS,805.457098178,762.457098178,735.457098178,740,690,659.457098178,930,806,840,671,642,674,0.451594753749,-0.0156258844091,0.0696540285706,0.999999834062,-0.000221157953807,-0.000525259779712,-8.40712111978e-05,1793255968993750272
+206,3.433333333,POSE1_TO_POSE2_PRESS,806,763,736,740,690.030984848,660,930,806,840,671.030984848,642,674,0.451909792912,-0.015629567753,0.0696470728581,0.999999829131,-0.000231610711351,-0.000530029187776,-8.46427820421e-05,1793255969010416896
+207,3.450000000,POSE1_TO_POSE2_PRESS,806,763,736,740,690.623395134,660,930,806,840,671.623395134,642,674,0.452182151966,-0.0156329275182,0.0696458740634,0.999999829636,-0.000232509518589,-0.00052872147573,-8.43834517766e-05,1793255969027083264
+208,3.466666667,POSE1_TO_POSE2_PRESS,806,762.78952456,735.78952456,740,691,659.78952456,930,805.78952456,840,671.78952456,641.78952456,674,0.452438298213,-0.0156366281807,0.0696443699474,0.999999828573,-0.000232346771425,-0.000530874600785,-8.39057351443e-05,1793255969043749632
+209,3.483333333,POSE1_TO_POSE2_PRESS,806,762.211745733,735.211745733,740,691,659.211745733,930,805.211745733,840,671.211745733,641.211745733,674,0.452666151256,-0.0156409237471,0.0696423330115,0.999999824729,-0.00023033149196,-0.000539067277145,-8.30469096864e-05,1793255969060416256
+210,3.500000000,POSE1_TO_POSE2_PRESS,806,762.365640271,735,740,690.634359729,659,930,804.634359729,840,671.365640271,641.365640271,674,0.452879437315,-0.0156434721886,0.0696414312347,0.999999823324,-0.000228143912019,-0.000542669464723,-8.2541084532e-05,1793255969077082880
+211,3.516666667,POSE1_TO_POSE2_PRESS,806,762.942799084,735,740,690.057200916,659,930,804.057200916,840,671.942799084,641.942799084,674,0.453084296568,-0.0156450099394,0.0696411861338,0.999999823353,-0.00022585665812,-0.000543616109985,-8.22394657706e-05,1793255969093749504
+212,3.533333333,POSE1_TO_POSE2_PRESS,806,762.471967066,735,740,690,659,930,804,840,671.471967066,641.471967066,674,0.453259720234,-0.0156470309277,0.0696415589993,0.999999823532,-0.000231334954636,-0.000541091664915,-8.1482712719e-05,1793255969110416384
+213,3.550000000,POSE1_TO_POSE2_PRESS,806,762,735,740,690,659,930,804,840,671,641.112826992,674,0.453425039377,-0.0156490675058,0.0696420218045,0.999999823049,-0.000238072956856,-0.000539167579014,-8.07578778343e-05,1793255969127083520
+214,3.566666667,POSE1_TO_POSE2_PRESS,806,762,735,740,690,659,930,804,840,671,641.692130145,674,0.453561970311,-0.0156509487478,0.0696425753887,0.999999819887,-0.000246487112966,-0.000541304403672,-8.03720161358e-05,1793255969143749888
+215,3.583333333,POSE1_TO_POSE2_PRESS,806,762.270114338,735,740,689.729885662,659,930,804,840,671.270114338,641.729885662,674,0.453685744071,-0.0156532931506,0.0696425170254,0.999999817552,-0.000252743227947,-0.00054279552211,-7.99350407086e-05,1793255969160416512
+216,3.600000000,POSE1_TO_POSE2_PRESS,806,762.846602483,735,740,689.153397517,659,930,804,840,671.846602483,641.153397517,674,0.453794594462,-0.0156561628876,0.0696417645684,0.99999981621,-0.000256551611299,-0.000543554256251,-7.94400902021e-05,1793255969177082880
+217,3.616666667,POSE1_TO_POSE2_PRESS,806,762.577471328,735,740,689,659,930,803.577471328,840,672,641,674,0.453885999121,-0.0156544522384,0.0696404757681,0.999999814993,-0.000253933648827,-0.000546994046207,-7.95547349576e-05,1793255969193749504
+218,3.633333333,POSE1_TO_POSE2_PRESS,806,762.001748895,735,740,689,659,930,803.001748895,840,672,641,674,0.453971078581,-0.0156510809052,0.0696389925091,0.999999813788,-0.000248985723477,-0.000551405890922,-7.98903971253e-05,1793255969210416128
+219,3.650000000,POSE1_TO_POSE2_PRESS,806,762,735,740,689,659,930,803,840,672,641,674,0.454032081487,-0.0156529743069,0.0696359504399,0.999999810687,-0.000250353458635,-0.000556443570537,-7.94997705601e-05,1793255969227082752
+220,3.666666667,POSE1_TO_POSE2_PRESS,806,762,735,740,689,659,930,803,840,672,641,674,0.454087249143,-0.0156547046094,0.0696323306029,0.999999807112,-0.000251388592942,-0.000562394871495,-7.93160608626e-05,1793255969243749376
+221,3.683333333,POSE1_TO_POSE2_PRESS,806,762,735,740,689,659,930,803,840,672,641,674,0.454128975228,-0.015656017005,0.0696273740068,0.999999802459,-0.000251602929987,-0.000570473055159,-7.96202176284e-05,1793255969260416256
+222,3.700000000,POSE1_TO_POSE2_PRESS,806,762,735,740,689,659,930,803,840,672,641.329483379,674,0.454164267214,-0.0156565210907,0.0696240113924,0.999999799459,-0.000251541258885,-0.000575699215783,-7.9873043114e-05,1793255969277083136
+223,3.716666667,POSE1_TO_POSE2_PRESS,806,762,735,740,689,659,930,803,840,672,641.905074148,674,0.454194753258,-0.0156564214099,0.0696218394011,0.999999797722,-0.000251273423714,-0.000578795060575,-8.00875267683e-05,1793255969293750016
+224,3.733333333,POSE1_TO_POSE2_PRESS,806,762,735,740,689.480154048,659,930,803,840,672,642,674,0.454214876252,-0.0156571490523,0.0696182763295,0.999999794097,-0.000252158065397,-0.000584665030855,-7.99260910802e-05,1793255969310416640
+225,3.750000000,POSE1_TO_POSE2_PRESS,806,762,735,740,689.94332449,659,930,802.94332449,840,672,642,674,0.454232441301,-0.0156579495556,0.0696148055498,0.999999790492,-0.000253019753038,-0.000590463638152,-7.96868069068e-05,1793255969327083520
+226,3.766666667,POSE1_TO_POSE2_PRESS,806,762,735,740,689.352258967,659,930,802.352258967,840,672,642,674,0.454245184768,-0.0156578964942,0.0696147953258,0.999999790916,-0.000251518972268,-0.000590423649838,-7.9413496465e-05,1793255969343750144
+227,3.783333333,POSE1_TO_POSE2_PRESS,806,762,735,740,689.23332394,659,930,802,840,672,642,674,0.454254864803,-0.0156577306127,0.0696143131218,0.999999790498,-0.000250450043261,-0.000591611247893,-7.92138316953e-05,1793255969360416768
+228,3.800000000,POSE1_TO_POSE2_PRESS,806,762,735,740,689.810819512,659,930,802,840,672,642,674,0.454260026027,-0.0156573983127,0.0696131347094,0.999999788835,-0.000250018130529,-0.000594609634864,-7.91228002487e-05,1793255969377083136
+229,3.816666667,POSE1_TO_POSE2_PRESS,806,762,735,740,690,659,930,802,840,672,641.612797309,674,0.454264212137,-0.0156550770357,0.0696123631293,0.999999788705,-0.000247083136693,-0.000596037020096,-7.92423597248e-05,1793255969393750016
+230,3.833333333,POSE1_TO_POSE2_PRESS,806,762,735,740,690,659,930,802,840,672,641.036956084,674,0.454267923188,-0.0156517867632,0.069611789751,0.999999789311,-0.000242928684536,-0.000596699040037,-7.94645155005e-05,1793255969410417408
+231,3.850000000,POSE1_TO_POSE2_PRESS,806,762,735,740,690,659,930,802,840,672,641,674,0.454269254297,-0.0156524244597,0.0696109718257,0.999999788597,-0.000243245011813,-0.000597854481029,-7.87957163483e-05,1793255969427083776
+232,3.866666667,POSE1_TO_POSE2_PRESS,806,762,735,740,690,659,930,802.136851538,840,672,641.136851538,674,0.454270705381,-0.0156531177657,0.0696104051487,0.999999788157,-0.000243813272783,-0.000598441386209,-7.81642933785e-05,1793255969443750144
+233,3.883333333,POSE1_TO_POSE2_PRESS,806,762,735,740,690,659,930,802.715825441,840,672,641.715825441,674,0.454273071351,-0.0156531204646,0.0696107043532,0.999999788898,-0.000244204922847,-0.000597082218537,-7.78510166948e-05,1793255969460417024
+234,3.900000000,POSE1_TO_POSE2_PRESS,806,762,735,740,689.705979127,659,930,802.705979127,840,672,642,674,0.454274071291,-0.0156527564856,0.0696103011177,0.999999788738,-0.000244101629562,-0.000597399948061,-7.77935449314e-05,1793255969477083648
+235,3.916666667,POSE1_TO_POSE2_PRESS,806,762,735,740,689.128534042,659,930,802.128534042,840,672,642,674,0.454273754434,-0.0156520390439,0.0696092207587,0.999999787707,-0.00024352123098,-0.000599334138401,-7.79826587137e-05,1793255969493749760
+236,3.933333333,POSE1_TO_POSE2_PRESS,806,762,735.443052976,740,689,659,930,802,840,671.556947024,642,674,0.454273038691,-0.015650822574,0.0696086342314,0.999999787119,-0.000244033192084,-0.000600034143346,-7.85382345026e-05,1793255969510416384
+237,3.950000000,POSE1_TO_POSE2_PRESS,806,762,735.986481302,740,689.013518698,659.013518698,930,802.013518698,840,671.013518698,642,674,0.45427226339,-0.0156495355279,0.0696082059761,0.999999786673,-0.000244824763417,-0.000600373486855,-7.91634068331e-05,1793255969527082752
+238,3.966666667,POSE1_TO_POSE2_PRESS,806,762,735.392124795,740,689.607875205,659.607875205,930,802.607875205,840,671.607875205,642,674,0.45427383622,-0.0156513552055,0.0696085028102,0.999999786882,-0.000244191658281,-0.000600399851662,-7.82705940097e-05,1793255969543749376
+239,3.983333333,POSE1_TO_POSE2_PRESS,806,762,735,740,690,659.803409647,929.803409647,802.803409647,840,672,642,674,0.454275004069,-0.0156522792747,0.0696087100362,0.99999978738,-0.000242528739413,-0.000600333783085,-7.75839717929e-05,1793255969560416256
+240,4.000000000,POSE1_TO_POSE2_PRESS,806,762,735,740,690,659.225633057,929.225633057,802.225633057,840,672,642,674,0.454275386665,-0.0156514667706,0.0696087435134,0.99999978843,-0.000238869024631,-0.000600088487327,-7.72971506379e-05,1793255969577083136
+241,4.016666667,POSE1_TO_POSE2_PRESS,806,762,735,740,690,659,929,802,840,672,642,674,0.454275493898,-0.015651159476,0.0696085823163,0.999999788186,-0.000239442290315,-0.000600249681427,-7.74303608161e-05,1793255969593750016
+242,4.033333333,POSE1_TO_POSE2_PRESS,806,762,735,740,690,659,929,802,840,672,642,674,0.454275424695,-0.0156511758902,0.0696082963832,0.99999978711,-0.000242727803109,-0.000600671330528,-7.78327025826e-05,1793255969610416896
+243,4.050000000,POSE1_TO_POSE2_PRESS,806,762,735,740,689.496067043,659,929.503932957,802,840,672,642,674,0.454275686059,-0.0156499933765,0.0696084467102,0.999999787352,-0.000241621920287,-0.000600756417297,-7.75017951835e-05,1793255969627083520
+244,4.066666667,POSE1_TO_POSE2_PRESS,806,762,735,740,689.082467892,658.917532108,929.917532108,802,840,672,642,674,0.454276025677,-0.015648880056,0.0696086494215,0.999999787801,-0.0002401153366,-0.000600654084801,-7.71827453318e-05,1793255969643749888
+245,4.083333333,POSE1_TO_POSE2_PRESS,806,762,735,740,689.675075941,658.324924059,929.324924059,802,840,672,642,674,0.45427655588,-0.0156492592085,0.0696087888515,0.999999788368,-0.000240028879011,-0.000599691202362,-7.75880491587e-05,1793255969660416256
+246,4.100000000,HOLD_POSE2,806,762,735,740,690,659,930,802,840,672,642,674,0.454278356609,-0.0156487025704,0.0696088736886,0.999999787937,-0.000240639772197,-0.000600176266858,-7.75103378559e-05,1793255969699525632
+247,4.116666667,HOLD_POSE2,806,762,735,740,689.403941056,659,930,802,840,672,642,674,0.454276178841,-0.0156492647184,0.0696066727698,0.999999786187,-0.000239862169845,-0.000603440700028,-7.71431671914e-05,1793255969716192256
+248,4.133333333,HOLD_POSE2,806.190555257,762,735,740,689,659,930,802,840,672,641.809444743,674,0.454274868872,-0.0156498329719,0.0696054608013,0.999999785281,-0.000239194586951,-0.000605241529656,-7.68496229984e-05,1793255969732859136
+249,4.150000000,HOLD_POSE2,806.781766142,762,735,740,689,659,930,802,840,672,641.218233858,674,0.454275383507,-0.0156504140628,0.0696063281691,0.999999786168,-0.000238758327443,-0.000603965032082,-7.67108834937e-05,1793255969749525504
+250,4.166666667,HOLD_POSE2,806.63516956,762,735.36483044,740,689,659,930,802,840,672,641.36483044,674,0.454275875635,-0.0156502711181,0.0696059216349,0.999999786202,-0.000238940660901,-0.000603813248681,-7.69012441604e-05,1793255969766191872
+251,4.183333333,HOLD_POSE2,806.056871973,762,735.943128027,740,689,659,930,802,840,672,641.943128027,674,0.454276354593,-0.0156497045306,0.0696047697236,0.999999785736,-0.000239484941366,-0.000604319550595,-7.72841657269e-05,1793255969782857984
+252,4.200000000,HOLD_POSE2,806.519440974,762,735.480559026,740,689,658.480559026,929.480559026,802,840,672,642,674,0.454276518678,-0.0156494779287,0.0696053590888,0.999999785672,-0.000239571284585,-0.000604381436854,-7.73576071766e-05,1793255969799524608
+253,4.216666667,HOLD_POSE2,806.902581482,762,735,740,689,658.097418518,929.097418518,801.902581482,840,672,642,674,0.454276847623,-0.0156495598567,0.0696062944597,0.999999785907,-0.000239420149064,-0.00060407265013,-7.72083460105e-05,1793255969816191232
+254,4.233333333,HOLD_POSE2,806.315142109,762,735,740,689,658.684857891,929.684857891,801.315142109,840,672,642,674,0.454278178571,-0.0156510071817,0.0696080149442,0.999999787416,-0.000238325719327,-0.000602143176005,-7.61086674801e-05,1793255969832857856
+255,4.250000000,HOLD_POSE2,806,762,735,740,689,659,930,801,840,672,642,674.268503341,0.45427897878,-0.0156505600666,0.0696084086492,0.999999787935,-0.000238145197615,-0.00060138071145,-7.58755644038e-05,1793255969849524736
+256,4.266666667,HOLD_POSE2,806,762,735,740,689,659,930,801,840,672,642,674.847757871,0.454279164741,-0.0156479204293,0.0696072668116,0.999999787314,-0.000239022383506,-0.000601968880545,-7.66453887829e-05,1793255969866191104
+257,4.283333333,HOLD_POSE2,806.425418884,762,735,740,689.425418884,659,930,801.425418884,840,672,642,674.574581116,0.454279472919,-0.0156482331125,0.0696074923614,0.999999787418,-0.000239254464822,-0.000601696620358,-7.66924554688e-05,1793255969882857728
+258,4.300000000,HOLD_POSE2,806.997495138,762,735,740,689.997495138,658.997495138,930,802,840,672,642,674,0.454279819548,-0.0156495902251,0.0696081996557,0.999999787777,-0.000239262977334,-0.000601124065285,-7.64839714573e-05,1793255969899524352
+259,4.316666667,HOLD_POSE2,806.42199814,762,735,740,689.42199814,658.42199814,930,802,840,672,642,674,0.454278994469,-0.0156490812787,0.069607587451,0.999999786854,-0.000240742232291,-0.000602032175577,-7.67634382176e-05,1793255969916191488
+260,4.333333333,HOLD_POSE2,806,762,735,740,689,658.157213607,930,802,840,672,642,674,0.454279069503,-0.0156484251099,0.0696074687501,0.999999786632,-0.00024116859603,-0.000602202849464,-7.69761673061e-05,1793255969932858368
+261,4.350000000,HOLD_POSE2,806,762,735,740,689,658.746638053,930,802,840,672,642,674,0.454281619124,-0.0156473641982,0.0696087067871,0.999999788338,-0.000238700356995,-0.0006003461672,-7.70054215947e-05,1793255969949524992
+262,4.366666667,HOLD_POSE2,806.32994331,762,735,740,689,659,930,802,840,672,642,674,0.454281634705,-0.0156474709319,0.0696083610417,0.999999788269,-0.000237562164019,-0.000600947029538,-7.67426055223e-05,1793255969966191360
+263,4.383333333,HOLD_POSE2,806.908635196,762,735,740,689,659,930,802,840,672,642,674,0.45427973984,-0.0156484579686,0.0696068212619,0.99999978686,-0.000237426710307,-0.000603400666999,-7.62595937839e-05,1793255969982858240
+264,4.400000000,POSE2_TO_POSE3_RETREAT,806,762,735,740,689,659,930,802,840,672,642,674,0.454276521809,-0.0156495737789,0.0696038391965,0.999999784226,-0.00023879847984,-0.000607169066686,-7.66041147994e-05,1793255970014527232
+265,4.416666667,POSE2_TO_POSE3_RETREAT,806,762,735,740,689,659,930,801.411512829,840,672,642,674,0.454278550384,-0.0156488026039,0.0696053067657,0.99999978579,-0.000236944282764,-0.000605320516095,-7.65823259394e-05,1793255970031193856
+266,4.433333333,POSE2_TO_POSE3_RETREAT,806.168715511,762,735,740,689,658.831284489,930,801,840,672,642,674,0.454280112942,-0.015648015552,0.06960653521,0.999999787056,-0.000235589704116,-0.000603752615695,-7.66054676395e-05,1793255970047860736
+267,4.450000000,POSE2_TO_POSE3_RETREAT,806.729739963,762,735,740,689,658.270260037,930,801,840,672,642,674,0.454280591887,-0.0156471915821,0.0696072076247,0.999999787644,-0.000235396872319,-0.00060283730211,-7.67330849726e-05,1793255970064527360
+268,4.466666667,POSE2_TO_POSE3_RETREAT,806.690218229,762,735,740,689,658.309781771,930,801.309781771,840,672,642,674.309781771,0.45428022477,-0.0156474735146,0.0696074400115,0.999999787464,-0.000236144181396,-0.000602826525597,-7.68674888717e-05,1793255970081193984
+269,4.483333333,POSE2_TO_POSE3_RETREAT,806.092500183,762,735,740,689,658.907499817,930,801.907499817,840,672,642,674.907499817,0.454279071255,-0.0156487833626,0.0696072634008,0.999999786568,-0.000237765333579,-0.000603656499172,-7.70082007472e-05,1793255970097860352
+270,4.500000000,POSE2_TO_POSE3_RETREAT,806,762,735,740,689,659,930,802,840,672,642,674.51483726,0.45427963757,-0.015647607103,0.0696073274849,0.999999786687,-0.000237496507743,-0.000603616168369,-7.66026338294e-05,1793255970114526976
+271,4.516666667,POSE2_TO_POSE3_RETREAT,806.061050677,762,735,740,689.061050677,659,930,802,840,672,642,674,0.454280029136,-0.015646098778,0.0696071666919,0.999999786851,-0.000236870407872,-0.000603638516819,-7.62259661367e-05,1793255970131193600
+272,4.533333333,POSE2_TO_POSE3_RETREAT,806.653448076,762,735,740,689.653448076,659,930,802,840,672,642,674,0.454276159255,-0.0156456619721,0.0696046651638,0.999999785784,-0.000236146494758,-0.000605593214005,-7.6971313052e-05,1793255970147860480
+273,4.550000000,POSE2_TO_POSE3_RETREAT,807,762,735.238236011,740,690,659,930,801.761763989,840,672,642,674.238236011,0.454267632011,-0.0156456144468,0.0696009904504,0.999999782784,-0.000235489553313,-0.000610741455649,-7.72777202485e-05,1793255970164527104
+274,4.566666667,POSE2_TO_POSE3_RETREAT,807,762,735.812297344,740,690,659,930,801.187702656,840,672,642,674.812297344,0.454252539597,-0.0156461156645,0.0695956619766,0.999999777,-0.000234927017381,-0.000620391422462,-7.69653835033e-05,1793255970181193984
+275,4.583333333,POSE2_TO_POSE3_RETREAT,806.611694097,762,735.611694097,740,690,658.611694097,930,801.388305903,840,672,642,674.611694097,0.454219521374,-0.0156453735125,0.0695839921897,0.99999976471,-0.000235266816003,-0.000639704783272,-7.75013138408e-05,1793255970197860608
+276,4.600000000,POSE2_TO_POSE3_RETREAT,806.034739476,762,735.034739476,740,690,658.034739476,930,801.965260524,840,672,642,674.034739476,0.454177794343,-0.0156440273005,0.0695692416338,0.999999748807,-0.00023604499116,-0.000663712863106,-7.84493534769e-05,1793255970214527232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,806.537391639,762,735,740,689.462608361,658.537391639,930,802,840,672,642,674,0.454118474013,-0.0156398708305,0.0695557575101,0.999999741262,-0.000235815706976,-0.000674948484837,-7.94387162268e-05,1793255970231194112
+278,4.633333333,POSE2_TO_POSE3_RETREAT,807,762,735,740,689,659,930,802,840,672,642,674,0.45405467364,-0.0156355291965,0.0695435425787,0.999999733758,-0.00023474832504,-0.000686263181459,-8.012492036e-05,1793255970247860480
+279,4.650000000,POSE2_TO_POSE3_RETREAT,807,762,735,740,689,659,930,802,840,672,642,674,0.45397667122,-0.0156311659072,0.0695363600075,0.999999724329,-0.000230404330983,-0.000701379099133,-7.95157879915e-05,1793255970264527360
+280,4.666666667,POSE2_TO_POSE3_RETREAT,806.702044118,762,735,740,689.297955882,659,930,802,840,672,642,674,0.453892588538,-0.0156268506223,0.0695336785175,0.999999721606,-0.00022702578058,-0.000706487021031,-7.82471854293e-05,1793255970281193984
+281,4.683333333,POSE2_TO_POSE3_RETREAT,806.126041828,762,735,740,689.873958172,659,930,802,840,672,642,674,0.453802831884,-0.0156225801346,0.0695351973459,0.999999725292,-0.00022454816298,-0.000702255682705,-7.6363178657e-05,1793255970297860864
+282,4.700000000,POSE2_TO_POSE3_RETREAT,806.44999695,762,735,740,690,659,930,802,840,672,642,674,0.453694630122,-0.015618755595,0.0695401988364,0.999999730089,-0.000224076724412,-0.000695801651665,-7.39679584812e-05,1793255970314527488
+283,4.716666667,POSE2_TO_POSE3_RETREAT,807,762,735,740,690,659,930,802,840,672,642,674,0.453579771277,-0.0156148487277,0.0695459663289,0.999999735093,-0.000223813832034,-0.000688925653017,-7.14294444796e-05,1793255970331194368
+284,4.733333333,POSE2_TO_POSE3_RETREAT,807,762,735,740,690,659,930,802,840,672,642,674,0.453433442561,-0.0156065655271,0.0695473087701,0.999999738785,-0.000216087897367,-0.000686286659565,-6.88889454132e-05,1793255970347860992
+285,4.750000000,POSE2_TO_POSE3_RETREAT,806.798462449,761.798462449,735,740,690,659,930,802,840,672,642,674,0.453274279283,-0.0155984751269,0.0695465918117,0.999999739231,-0.00020964683442,-0.000687890543779,-6.62823025283e-05,1793255970364527872
+286,4.766666667,POSE2_TO_POSE3_RETREAT,806.224460745,761.224460745,735,740,690,659,930,802,840,672,642,674,0.453091396301,-0.0155907410449,0.06954206885,0.99999973371,-0.00020558036038,-0.000697335745387,-6.35534186815e-05,1793255970381194496
+287,4.783333333,POSE2_TO_POSE3_RETREAT,806.349521401,761,735,740,689.650478599,659,930,802.349521401,840,672,642,674,0.452887469116,-0.0155815384671,0.0695361332516,0.999999728915,-0.000197766421789,-0.000706655955294,-6.07852901708e-05,1793255970397861376
+288,4.800000000,POSE2_TO_POSE3_RETREAT,806.923491042,761,735,740,689.076508958,659,930,802.923491042,840,672,642,674,0.452670028192,-0.0155713928811,0.0695292905158,0.999999724478,-0.00018754601546,-0.000715895901534,-5.79919600785e-05,1793255970414528512
+289,4.816666667,POSE2_TO_POSE3_RETREAT,807,761.513702085,735,740,689.513702085,659,930,803,840,672,642,674,0.452418541658,-0.0155595299317,0.0695283500566,0.999999724925,-0.000179185023035,-0.000717702622911,-5.42798437171e-05,1793255970431194880
+290,4.833333333,POSE2_TO_POSE3_RETREAT,807,761.898653348,735,740,690,659,930,803.101346652,840,672,642,674,0.45215498652,-0.0155476797528,0.0695276509369,0.999999725286,-0.000170823818027,-0.000719519354823,-5.03816534742e-05,1793255970447861248
+291,4.850000000,POSE2_TO_POSE3_RETREAT,807,761.334152819,735,740,690,659,930,803.665847181,840,672,642,674,0.451860207141,-0.0155370949986,0.0695239062576,0.999999721965,-0.000161154729399,-0.000726606358731,-4.62788839042e-05,1793255970464527616
+292,4.866666667,POSE2_TO_POSE3_RETREAT,806.759310014,761.240689986,735,740,690,659,930,804,840,672.240689986,642,674.240689986,0.451552553429,-0.015527118785,0.069521307781,0.999999719818,-0.000147379229993,-0.000732739362142,-4.16746242366e-05,1793255970481193984
+293,4.883333333,POSE2_TO_POSE3_RETREAT,806.16946427,761.83053573,735,740,690,659,930,804,840,672.83053573,642,674.83053573,0.451226223647,-0.0155180253486,0.0695203720379,0.999999719248,-0.000127646786337,-0.00073748844886,-3.63428806412e-05,1793255970497860864
+294,4.900000000,POSE2_TO_POSE3_RETREAT,806.410261319,762,735,740,690,659.410261319,930,804.410261319,840,672.589738681,642.410261319,674.589738681,0.450870935805,-0.015513460349,0.0695246467968,0.999999724224,-8.78303689967e-05,-0.000736813956745,-3.0693658236e-05,1793255970514527744
+295,4.916666667,POSE2_TO_POSE3_RETREAT,806.985907255,762,735,740,690,659.985907255,930,804.985907255,840,672.014092745,642.985907255,674.014092745,0.450503974394,-0.0155107208539,0.0695310220143,0.999999729549,-3.99176968824e-05,-0.000733953109051,-2.49164537869e-05,1793255970531194624
+296,4.933333333,POSE2_TO_POSE3_RETREAT,807,762,735,740,690,659.422326998,930.577673002,805,840,672,643,674,0.450098456058,-0.0155127551713,0.069544098155,0.999999740935,-4.62864114487e-05,-0.00071809876657,-1.79086561625e-05,1793255970547860736
+297,4.950000000,POSE2_TO_POSE3_RETREAT,807,761.833900734,735,740,690,659,930.833900734,805,840,672,642.833900734,674,0.449686010527,-0.0155132090944,0.0695587712069,0.999999754428,-4.76717237492e-05,-0.00069910338082,-1.11916810066e-05,1793255970564527360
+298,4.966666667,POSE2_TO_POSE3_RETREAT,807,761.254784338,735,740,690,659,930.254784338,805,840,672,642.254784338,674,0.449258746181,-0.015509435359,0.0695769969279,0.999999772895,-3.32781479111e-05,-0.000673108411993,-5.27464942465e-06,1793255970581193728
+299,4.983333333,POSE2_TO_POSE3_RETREAT,807,761.320397299,735,740,690.320397299,659.320397299,930,805.640794598,840,672,642.320397299,674.320397299,0.448811828827,-0.0155037836324,0.0695996258721,0.999999797799,-2.37270070665e-05,-0.000635465161337,-4.89585400706e-06,1793255970597860608
+300,5.000000000,POSE2_TO_POSE3_RETREAT,807,761.892487984,735,740,690.892487984,659.892487984,930,806.784975968,840,672,642.892487984,674.892487984,0.44834947268,-0.0154966566182,0.0696257138429,0.999999826532,-1.79799193706e-05,-0.000588671407106,-8.86771076126e-06,1793255970614527232
+301,5.016666667,POSE2_TO_POSE3_RETREAT,807,761.530596237,735,740,691,660,930.469403763,807,840,672,643,674.530596237,0.447824668914,-0.0154923570927,0.0696344663103,0.999999832469,-1.85923178151e-05,-0.000578487028552,-8.28620073486e-06,1793255970631194368
+302,5.033333333,POSE2_TO_POSE3_RETREAT,807,761,735,740,691.048564161,660,930.951435839,807.048564161,840,672,643,674,0.447278213311,-0.0154883357636,0.0696365694103,0.999999831394,-1.90939787612e-05,-0.000580346973789,-6.62839842286e-06,1793255970647861504
+303,5.050000000,POSE2_TO_POSE3_RETREAT,807,761,735,740,691.640342248,660,930.359657752,807.640342248,840,672,643,674,0.446651218275,-0.0154801071627,0.0696091695083,0.999999806443,-1.89528471055e-06,-0.000622164207941,-4.71825265402e-06,1793255970664528128
+304,5.066666667,POSE2_TO_POSE3_RETREAT,807,761,735,740,691.773349677,660.226650323,930,808.226650323,839.773349677,672,643,674,0.446033076349,-0.0154714096554,0.0695924503209,0.999999792966,1.03777973293e-05,-0.000643383809143,-4.18384317939e-06,1793255970681194752
+305,5.083333333,POSE2_TO_POSE3_RETREAT,807,761,735,740,691.195517119,660.804482881,930,808.804482881,839.195517119,672,643,674,0.445428651866,-0.0154619856038,0.0695922803164,0.999999799723,1.5018912875e-05,-0.00063268850765,-5.78106170884e-06,1793255970697861120
+306,5.100000000,POSE2_TO_POSE3_RETREAT,807,761,734.621342679,740,691.378657321,661,930,809,839.378657321,672,643.378657321,674,0.444822703234,-0.0154573639357,0.0696180785289,0.999999828531,2.61215004969e-05,-0.000585020361826,-2.79051632031e-06,1793255970714527488
+307,5.116666667,POSE2_TO_POSE3_RETREAT,807,761,734.049039028,740,691.950960972,661,930,809,839.950960972,672,643.950960972,674,0.444215975165,-0.0154551982191,0.0696571569546,0.999999864783,4.05285013713e-05,-0.000518444206087,2.54622343388e-06,1793255970731194112
+308,5.133333333,POSE2_TO_POSE3_RETREAT,807,761,734.540416107,740,693.080832214,661,930,809.540416107,839.459583893,672,644,674,0.443554090182,-0.0154497957197,0.0696908950275,0.999999891334,4.73871774213e-05,-0.000463730025094,6.3325544927e-06,1793255970747861248
+309,5.150000000,POSE2_TO_POSE3_RETREAT,807,761,735,740,694,661,930,810.128833466,839,672,643.871166534,674,0.442870411914,-0.0154443187089,0.0697223266109,0.999999911817,5.43226192566e-05,-0.000416314620013,9.84294222252e-06,1793255970764528640
+310,5.166666667,POSE2_TO_POSE3_RETREAT,807,761,735,740,694,661,930,810.7080045,839,672,643.2919955,674,0.442128624165,-0.0154396415815,0.0697474452927,0.999999921614,6.39991468353e-05,-0.000390526254075,1.28966664557e-05,1793255970781195264
+311,5.183333333,POSE2_TO_POSE3_RETREAT,807,761,735,740,694,661,930,811,839,672,643.286414951,674,0.44139250617,-0.0154334144642,0.0697702000519,0.999999934138,7.13100805175e-05,-0.000355560185385,1.46860544932e-05,1793255970797861632
+312,5.200000000,POSE2_TO_POSE3_RETREAT,807,761,735,740,694,661,930,811,839,672,643.864052124,674,0.440662153002,-0.015425611341,0.0697905512147,0.999999948538,7.62157166102e-05,-0.000311262369338,1.51898857135e-05,1793255970814527744
+313,5.216666667,POSE2_TO_POSE3_RETREAT,807,761,734.562266845,739.562266845,694,661,930,811,839,672,644,673.562266845,0.439890044577,-0.0154211326894,0.0698081296195,0.999999955801,9.1831971071e-05,-0.000282205903884,1.80323676864e-05,1793255970831194112
+314,5.233333333,POSE2_TO_POSE3_RETREAT,807,761,734.010547264,739.010547264,694.010547264,661,930,811,839,672,644,673.010547264,0.43910313434,-0.0154175769071,0.0698234553264,0.999999959839,0.000110545238882,-0.00026008235734,2.14298732144e-05,1793255970847860736
+315,5.250000000,POSE2_TO_POSE3_RETREAT,807,761,734.602704315,739.602704315,694.602704315,661,930,811,839,672,644,673.602704315,0.438208696083,-0.0154084862696,0.0697616209549,0.999999927515,0.000118251119352,-0.000361577207833,1.57402625892e-05,1793255970864527360
+316,5.266666667,POSE2_TO_POSE3_RETREAT,807,761,734.810073124,740,694.810073124,661.189926876,930,811.189926876,839,672,644,674,0.437320139261,-0.0154036159773,0.0697162406116,0.999999898716,0.000120219997723,-0.000433577678677,1.11689503827e-05,1793255970881194240
+317,5.283333333,POSE2_TO_POSE3_RETREAT,807,761,734.232911347,740,694.232911347,661.767088653,930,811.767088653,839,672,644,674,0.436443573932,-0.0154073503916,0.0697044077834,0.999999894647,0.000110491915767,-0.00044544314717,8.87769618481e-06,1793255970897861632
+318,5.300000000,POSE2_TO_POSE3_RETREAT,807,760.655300233,734,740,694,661.655300233,930,811.655300233,839,672,644,673.655300233,0.435592326345,-0.0154107183398,0.0697312964549,0.99999991183,0.000110788747638,-0.000404861158603,1.23552781012e-05,1793255970914528512
+319,5.316666667,POSE2_TO_POSE3_RETREAT,807,760.077385131,734,740,694,661.077385131,930,811.077385131,839,672,644,673.077385131,0.434758208152,-0.0154138383459,0.0697843831356,0.999999938806,0.000117868188075,-0.000328794515769,1.97359118508e-05,1793255970931195136
+320,5.333333333,POSE2_TO_POSE3_RETREAT,807,760,734.507798034,740,694.507798034,661.507798034,930,811,839,672,644.507798034,673.507798034,0.433913684433,-0.0154136181183,0.0698130420113,0.999999948041,0.00012975491396,-0.00029416553612,2.33976295194e-05,1793255970947861248
+321,5.350000000,POSE2_TO_POSE3_RETREAT,807.093519741,760,734.906480259,739.906480259,695,662,930,811,839,672,645,674,0.433059339097,-0.0154134236846,0.0698355919989,0.999999954604,0.000139063452482,-0.000266048576029,2.59048428612e-05,1793255970964527360
+322,5.366666667,POSE2_TO_POSE3_RETREAT,807.676180716,760,734.323819284,739.323819284,695,662,930,811,839,672,645,674,0.432162037935,-0.0154160652294,0.0698459437836,0.99999996266,0.000130999765502,-0.000238483387655,2.53808766561e-05,1793255970981194240
+323,5.383333333,POSE2_TO_POSE3_RETREAT,808,760,734.255189985,739.255189985,694.744810015,661.744810015,930,811,839,672,644.744810015,674,0.431205793729,-0.0154148868085,0.0698251887665,0.999999954371,0.000130176854533,-0.000271600761799,2.33322606263e-05,1793255970997860608
+324,5.400000000,POSE2_TO_POSE3_RETREAT,808,760,734.829630929,739.829630929,694.170369071,661.170369071,930,811,839,672,644.170369071,674,0.430175809737,-0.0154089294869,0.0697655181314,0.999999917792,0.00013841238745,-0.000380633987084,1.9376257881e-05,1793255971014527232
+325,5.416666667,POSE2_TO_POSE3_RETREAT,807.596069143,760,734.596069143,739.596069143,694,661,930,811,838.596069143,672,644,674,0.429215829958,-0.015407614363,0.0697275439082,0.999999896118,0.00013954449015,-0.000433622278623,1.62275819774e-05,1793255971031193856
+326,5.433333333,POSE2_TO_POSE3_RETREAT,807.021828706,760,734.021828706,739.021828706,694,661,930,811,838.021828706,672,644,674,0.428285366154,-0.0154082565318,0.0696987175583,0.999999883256,0.000137681569708,-0.000462980309894,1.34192999964e-05,1793255971047860480
+327,5.450000000,POSE2_TO_POSE3_RETREAT,807,760,734,739,694.56671493,661,930,811,838.56671493,672,644.56671493,674,0.427446245508,-0.0154116962401,0.069766047804,0.999999924622,0.000137058810324,-0.000362705870546,2.03635738303e-05,1793255971064527616
+328,5.466666667,POSE2_TO_POSE3_RETREAT,807,760,734,739,695,661.153518394,930,811,839,672,645,674,0.426592999088,-0.0154144469322,0.0698258918862,0.999999952216,0.000138740353918,-0.000274981275437,2.6535489281e-05,1793255971081194240
+329,5.483333333,POSE2_TO_POSE3_RETREAT,807,760,734,739,695,661.733911502,930,811,839,672,645,674,0.425690437979,-0.0154149743553,0.0698543545091,0.999999960864,0.000146693003248,-0.000236396483748,2.94882003305e-05,1793255971097860864
+330,5.500000000,POSE2_TO_POSE3_RETREAT,807,760,734.311541203,739,695,661.688458797,930,811,839,672,645,674,0.424762638888,-0.0154123633547,0.0698537806622,0.999999959715,0.000153333329382,-0.000237051791194,2.94156347762e-05,1793255971114527232
+331,5.516666667,POSE2_TO_POSE3_RETREAT,807,760,734.88683139,739,695,661.11316861,930,811,839,672,645,674,0.423813473514,-0.0154070953826,0.0698286247064,0.999999950322,0.000158862649878,-0.000270927541914,2.67818873723e-05,1793255971131193856
+332,5.533333333,POSE2_TO_POSE3_RETREAT,807,760,734.539502325,739,695,661,930,811,838.539502325,672,645,673.539502325,0.422830189426,-0.0154003473479,0.069771605712,0.999999917472,0.000159029653912,-0.000373274594486,2.07966450722e-05,1793255971147860480
+333,5.550000000,POSE2_TO_POSE3_RETREAT,807.034843962,760,734.034843962,739,694.965156038,661,930,811,838.034843962,672,645.034843962,673.034843962,0.421844269869,-0.0153937687464,0.0697091284107,0.999999868709,0.000157645429915,-0.000487366616432,1.42510783166e-05,1793255971164527360
+334,5.566666667,POSE2_TO_POSE3_RETREAT,807.626408223,760,734.626408223,739,694.373591777,661,930,811,838.626408223,672,645.626408223,673.626408223,0.420949740357,-0.015395688353,0.0696841122372,0.999999852481,0.000152457719038,-0.000521204787359,1.18664011175e-05,1793255971181194752
+335,5.583333333,POSE2_TO_POSE3_RETREAT,807.78706896,759.78706896,734.78706896,739,694,661,930,811,838.78706896,672,645.78706896,674,0.420097874543,-0.0153986924384,0.0696986963305,0.999999867755,0.00015057464541,-0.000491573388074,1.31830516104e-05,1793255971197861888
+336,5.600000000,POSE2_TO_POSE3_RETREAT,807.20918678,759.20918678,734.20918678,739,694,661,930,811,838.20918678,672,645.20918678,674,0.419319131628,-0.0154035552565,0.069781152922,0.999999925509,0.000154355520921,-0.000353158919582,2.08435571222e-05,1793255971214528768
+337,5.616666667,POSE2_TO_POSE3_RETREAT,807,759.367497555,734,739,694.367497555,661,930,811,838.367497555,672,645,674,0.418509658079,-0.0154028248233,0.069836386799,0.999999950543,0.000162871072336,-0.0002677483632,2.64079194162e-05,1793255971231194880
+338,5.633333333,POSE2_TO_POSE3_RETREAT,807,759.943502233,734,739,694.943502233,661,930,811,838.943502233,672,645,674,0.417682748933,-0.0153989209462,0.0698761753168,0.999999961816,0.000174072937794,-0.000212410651527,3.07829923728e-05,1793255971247860480
+339,5.650000000,POSE2_TO_POSE3_RETREAT,807,760,734,739,695,661,930,811,839,672,645,674,0.41684820518,-0.0153989379221,0.0698467494532,0.999999951682,0.000174897337073,-0.000255475261729,2.79232542838e-05,1793255971264527104
+340,5.666666667,POSE2_TO_POSE3_RETREAT,807,760,734.116820075,739,694.883179925,661,930,811,839,672,645.116820075,674,0.416015241567,-0.0153992376644,0.0698120994737,0.999999938426,0.000173773577162,-0.000303906830503,2.430927424e-05,1793255971281193728
+341,5.683333333,POSE2_TO_POSE3_RETREAT,807,760,734.697220257,739,694.302779743,661,930,811,839,672,645.697220257,674,0.415191843331,-0.0153989674089,0.0697865890781,0.999999930599,0.000169397450511,-0.000331169138936,2.08245155655e-05,1793255971297860608
+342,5.700000000,POSE2_TO_POSE3_RETREAT,807,759.725028324,735,739,694,661,930,811,838.725028324,672,646,673.725028324,0.414365669007,-0.0153979077593,0.0697593447897,0.999999914479,0.000169947988635,-0.000376595095807,1.82994688245e-05,1793255971314527488
+343,5.716666667,POSE2_TO_POSE3_RETREAT,807,759.150165748,735,739,694,661,930,811,838.150165748,672,646,673.150165748,0.413536467068,-0.015395987177,0.0697302094769,0.999999886786,0.000175871668863,-0.000441830773414,1.68211077948e-05,1793255971331194112
+344,5.733333333,POSE2_TO_POSE3_RETREAT,807,759,735,739,694,661,930,811,838,672,646,673,0.412822235208,-0.0153951053284,0.0697525578468,0.999999902899,0.000180880493749,-0.000401398407157,1.90896909653e-05,1793255971347860736
+345,5.750000000,POSE2_TO_POSE3_RETREAT,807,759,735,739,694,661,930,811,838,672,646,673,0.412148654805,-0.0153945907587,0.0697931099957,0.999999930166,0.000185565840567,-0.0003236035666,2.26831316151e-05,1793255971364527360
+346,5.766666667,POSE2_TO_POSE3_RETREAT,807.590712429,759,735,739,694.590712429,661,930,811,838.590712429,672,646,673.590712429,0.411528979875,-0.0153994627658,0.0698447503253,0.999999953856,0.000188351481334,-0.00023668675894,2.81235517294e-05,1793255971381193984
+347,5.783333333,POSE2_TO_POSE3_RETREAT,807.819461444,759,735,739,695,661,930,811,838.819461444,672,646,674,0.410892274865,-0.0154020701541,0.0698768556559,0.999999964589,0.000188960610289,-0.000184757040789,3.13028896647e-05,1793255971397861120
+348,5.800000000,POSE2_TO_POSE3_RETREAT,807.239983563,759,735,739,695,661,930,811,838.239983563,672,646,674,0.410217172442,-0.0153995968684,0.0698656366694,0.999999960386,0.000184787246157,-0.00021026847556,2.94596420474e-05,1793255971414527744
+349,5.816666667,POSE2_TO_POSE3_RETREAT,807,759.33489371,735,739,695,661,930,811,838,672,646,673.66510629,0.409551949945,-0.0153959007603,0.0698356861441,0.999999947408,0.00018813132052,-0.000262864475252,2.63264947681e-05,1793255971431194368
+350,5.833333333,POSE2_TO_POSE3_RETREAT,807,759.906518845,735,739,695,661,930,811,838,672,646,673.093481155,0.408893711463,-0.0153913402573,0.069792494571,0.999999924408,0.000196789360844,-0.000334606152012,2.22815364463e-05,1793255971447860992
+351,5.850000000,POSE2_TO_POSE3_RETREAT,807,759.504488143,735,739,695,661,930,810.504488143,838,672,645.504488143,673,0.408293675818,-0.0153882068056,0.0697729055813,0.999999915012,0.000197205245848,-0.00036155548221,1.90688541472e-05,1793255971464527616
+352,5.866666667,POSE2_TO_POSE3_RETREAT,807.085948804,759,735,739,695,661,930,810.085948804,838,672,645.085948804,673,0.407716585546,-0.0153862671702,0.069763430181,0.999999911568,0.00019604168095,-0.000371686166099,1.67664940376e-05,1793255971481194240
+353,5.883333333,POSE2_TO_POSE3_RETREAT,807.665184738,759,735,739,695,661,930,810.665184738,838,672,645.665184738,673,0.407205877495,-0.01538957795,0.0697855157615,0.999999924503,0.000195061546998,-0.000335550135323,1.87548747824e-05,1793255971497860864
+354,5.900000000,POSE2_TO_POSE3_RETREAT,808,759,735,739,695,661,930,810.757081153,838,672,646,673.242918847,0.406704643814,-0.0153905524717,0.069800181348,0.999999931021,0.000196391985008,-0.000314625989823,1.99817150057e-05,1793255971514527232
+355,5.916666667,POSE2_TO_POSE3_RETREAT,808,759,735,739,695,661,930,810.181404338,838,672,646,673.818595662,0.406216388468,-0.0153883267124,0.0698046827887,0.999999930151,0.000200887518375,-0.000314539572301,2.01653726511e-05,1793255971531194112
+356,5.933333333,POSE2_TO_POSE3_RETREAT,808,759,735,739,695,661,930,810.393723351,838,672,646,673.606276649,0.405744959643,-0.0153853509768,0.0697998771688,0.999999925404,0.000201157785344,-0.000329140489792,1.9844124941e-05,1793255971547860992
+357,5.950000000,POSE2_TO_POSE3_RETREAT,808,759,735,739,695,661,930,810.968598438,838,672,646,673.031401562,0.405281272641,-0.0153820301777,0.0697907893796,0.999999918492,0.000199484011607,-0.000350499035919,1.92905707691e-05,1793255971564527616
+358,5.966666667,POSE2_TO_POSE3_RETREAT,807.441403222,759,735,739,694.441403222,661,930,810.441403222,838.558596778,672,645.441403222,673,0.4048993145,-0.0153826076087,0.0698034271809,0.999999925667,0.000203105464132,-0.000327174116604,1.92924511968e-05,1793255971581194240
+359,5.983333333,POSE2_TO_POSE3_RETREAT,807,759,735,739,694.146337905,661,930,810,838.853662095,672,645.146337905,673.146337905,0.404533570335,-0.0153834104328,0.0698181677436,0.999999934111,0.000205132017534,-0.000298847539905,1.97175213785e-05,1793255971597860608
+360,6.000000000,POSE2_TO_POSE3_RETREAT,807,759,735,739,694.7248328,661,930,810,838.2751672,672,645.7248328,673.7248328,0.404201762834,-0.0153842137168,0.0698354110117,0.99999994478,0.000201545075381,-0.000263374717998,2.12975578267e-05,1793255971614527232
+361,6.016666667,POSE2_TO_POSE3_RETREAT,807,759,735,739,695,661,930,810,838,672,646.299992204,673.700007796,0.403877288032,-0.0153846069235,0.0698429375358,0.999999948544,0.000202450529219,-0.000247860569977,2.21629713077e-05,1793255971631194112
+362,6.033333333,POSE2_TO_POSE3_RETREAT,807,759,735,739,695,661,930,810,838,672,646.872125745,673.127874255,0.403559465192,-0.0153846281239,0.0698416494039,0.999999946873,0.000207431311518,-0.000250452162132,2.23801063657e-05,1793255971647860736
+363,6.050000000,POSE2_TO_POSE3_RETREAT,807.459090375,759,735,739,695,661,930,810,838,672,646.540909625,673.459090375,0.403256304042,-0.0153817839817,0.0698307987506,0.999999940631,0.000214416837149,-0.000268940783761,2.08414872759e-05,1793255971664527360
+364,6.066666667,POSE2_TO_POSE3_RETREAT,808,759,735,739,694.95068844,661,930,810,838,672,646,673.95068844,0.402961515214,-0.0153784965839,0.069818071399,0.999999933309,0.000220374946576,-0.000290623852747,1.88220204577e-05,1793255971681194240
+365,6.083333333,POSE2_TO_POSE3_RETREAT,808,759,735,739,694.371348813,661,930,810,838,672,646,673.371348813,0.402711355908,-0.0153793097153,0.0698147570837,0.999999933754,0.000209087478466,-0.000297459884277,1.7066143077e-05,1793255971697860864
+366,6.100000000,POSE2_TO_POSE3_RETREAT,807.794323115,759,735,739,694.205676885,661,930,810,838,672,646,673,0.402475460199,-0.0153786433805,0.0698099180699,0.99999993248,0.000203949364609,-0.000305283373954,1.57010923875e-05,1793255971714527232
+367,6.116666667,POSE2_TO_POSE3_RETREAT,807.221428787,759,735,739,694.778571213,661,930,810,838,672,646,673,0.402265030879,-0.0153753355925,0.0698023568454,0.999999928309,0.000209790366832,-0.000314869879995,1.50338275339e-05,1793255971731193856
+368,6.133333333,POSE2_TO_POSE3_RETREAT,807,759,735,739,695,661,930,810,838,672,646,673,0.402075051303,-0.0153742794069,0.0697968944661,0.999999924195,0.000215422221041,-0.000324006507204,1.49405427107e-05,1793255971747860736
+369,6.150000000,POSE2_TO_POSE3_RETREAT,807,759,735,739,695,661,930,810,838,672,646,673,0.401897955368,-0.015374641766,0.0697927543916,0.999999920083,0.000220922309263,-0.000332859704572,1.52088743066e-05,1793255971764527360
+370,6.166666667,POSE2_TO_POSE3_RETREAT,807.518639761,759,735,739,695,661,930,810.518639761,838,672,646,673,0.401751593841,-0.0153752525124,0.0697946068979,0.999999921909,0.00021736482418,-0.000329702723551,1.51603771885e-05,1793255971781194240
+371,6.183333333,POSE2_TO_POSE3_RETREAT,807.890029135,759,735,739,694.890029135,661,930,810.890029135,838,672,646,673.109970865,0.401615537539,-0.0153755958731,0.0697969496457,0.999999924083,0.000213862121389,-0.00032538529913,1.48464319717e-05,1793255971797860864
+372,6.200000000,POSE2_TO_POSE3_RETREAT,807.311840249,759,735,739,694.311840249,661,930,810.311840249,838,672,646,673.688159751,0.401504237934,-0.0153746462801,0.0697976517901,0.999999924172,0.00021622722524,-0.00032359843537,1.35993940723e-05,1793255971814527488
+373,6.216666667,POSE2_TO_POSE3_RETREAT,807.263997922,759,735,739,694,661,930,810,838,672,646,673.736002078,0.401404213274,-0.0153745211731,0.0697977388891,0.999999924449,0.000217631118939,-0.000321845075606,1.24479137225e-05,1793255971831194112
+374,6.233333333,POSE2_TO_POSE3_RETREAT,807.837083848,759,735,739,694,661,930,810,838,672,646,673.162916152,0.401317389295,-0.0153753613719,0.0697971058946,0.999999924951,0.000217909630435,-0.000320130942332,1.14083119501e-05,1793255971847860480
+375,6.250000000,POSE2_TO_POSE3_RETREAT,807.577282813,759,735,739,694.422717187,661,930,810,838,672,646,673,0.401245308341,-0.015375098713,0.0697975799589,0.999999925216,0.000217706210706,-0.000319458152854,1.09111074114e-05,1793255971864527104
+376,6.266666667,POSE2_TO_POSE3_RETREAT,807.013083809,759,735,739,695,661,930,810,838,672,646,673.013083809,0.40117944082,-0.0153744050969,0.0697984611104,0.99999992537,0.000217338145545,-0.000319235682355,1.06431297024e-05,1793255971881193728
+377,6.283333333,POSE2_TO_POSE3_RETREAT,807.592608281,759,735,739,695,661,930,810,838,672,646,673.592608281,0.401129055795,-0.0153740183934,0.0697979296989,0.999999924757,0.00021812920471,-0.000320602314758,1.09722085621e-05,1793255971897860608
+378,6.300000000,POSE2_TO_POSE3_RETREAT,808,759,735,739,694.828927664,661,930,810,838,672,646,673.828927664,0.401084748656,-0.015373740566,0.0697979643025,0.999999924761,0.000218680114999,-0.000320205441073,1.12343055272e-05,1793255971914527488
+379,6.316666667,POSE2_TO_POSE3_RETREAT,808,759,735,739,694.25297341,661,930,810,838,672,646,673.25297341,0.401054826234,-0.0153737204189,0.0697993385107,0.999999926216,0.000218662657788,-0.000315634825601,1.1337874431e-05,1793255971931194112
+380,6.333333333,POSE2_TO_POSE3_RETREAT,807.677454375,759,735,739,694,661,930,810,838,672,646,673,0.401030264434,-0.0153743740943,0.0698009593359,0.999999927703,0.000217172687402,-0.000311924172706,1.15620887313e-05,1793255971947860736
+381,6.350000000,POSE2_TO_POSE3_RETREAT,807.102276163,759,735,739,694,661,930,810,838,672,646,673,0.401009901317,-0.0153755555387,0.069802773323,0.999999929212,0.00021452937688,-0.000308887081614,1.18807980736e-05,1793255971964527360
+382,6.366666667,POSE2_TO_POSE3_RETREAT,807,759,735,739,694,661,930,810,838,672,646,673,0.400996066734,-0.0153745508542,0.0698038062741,0.999999929457,0.000216158980732,-0.000306958486675,1.17316207392e-05,1793255971981193984
+383,6.383333333,POSE2_TO_POSE3_RETREAT,807,759,735,739,694,661,930,810,838,671.92460205,646,673,0.400984047567,-0.0153732443378,0.0698044025924,0.99999992929,0.000218574216788,-0.000305799304351,1.15329279199e-05,1793255971997860608
+384,6.400000000,POSE2_TO_POSE3_RETREAT,807,759,735,739,694,661,930,810,838,671.344902842,646,673,0.400974726998,-0.0153730813557,0.069803208289,0.99999992823,0.000220063188108,-0.000308182862463,1.16798712369e-05,1793255972014526976
+385,6.416666667,POSE2_TO_POSE3_RETREAT,807.232581143,759,735,739,694,661,930,810,838,671.232581143,646,673,0.400969259814,-0.0153738678903,0.069803544249,0.999999928593,0.000219109022884,-0.000307678602433,1.1774562363e-05,1793255972031193856
+386,6.433333333,POSE2_TO_POSE3_RETREAT,807.806811054,759,735,739,694,661,930,810,838,671.806811054,646,673,0.400969453039,-0.0153760492122,0.0698061280809,0.999999931027,0.000214566025807,-0.000302932297948,1.17924979165e-05,1793255972047860736
+387,6.450000000,POSE2_TO_POSE3_RETREAT,808,759,735,739,694,661,930,810,838,672,646,673,0.400969669348,-0.0153765179325,0.0698077980003,0.999999932079,0.000214149370419,-0.000299739412377,1.17401816095e-05,1793255972064527616
+388,6.466666667,POSE2_TO_POSE3_RETREAT,808,759,735,739,694,661,930,810,838,672,646,673,0.40096989736,-0.0153761183587,0.0698090045634,0.999999932438,0.000215824782964,-0.00029733411507,1.1652247395e-05,1793255972081194496
+389,6.483333333,POSE2_TO_POSE3_RETREAT,808,759,735,739,694,661,930,810,838,672,646.541969752,673.541969752,0.400967900601,-0.0153774877172,0.0698089028515,0.999999932722,0.00021367004983,-0.000297936062705,1.16328888729e-05,1793255972097861120
+390,6.500000000,POSE2_TO_POSE3_RETREAT,807.86494403,759,735,739,694,661,930,810,838,672,646.86494403,673.86494403,0.400966327213,-0.0153785468998,0.069808844913,0.999999932854,0.000212341041897,-0.000298441456416,1.16229775105e-05,1793255972114527744
+391,6.516666667,POSE2_TO_POSE3_RETREAT,807.289473341,759,735,739,694,661,930,810,838,672,646.289473341,673.289473341,0.400966890994,-0.0153779930523,0.0698093746176,0.999999932533,0.000215007207154,-0.00029760932975,1.16205529248e-05,1793255972131194368
+392,6.533333333,POSE2_TO_POSE3_RETREAT,807.276312062,759,735,739,694.276312062,661,930,810,838,672,646,673.276312062,0.400966661438,-0.015377503539,0.0698094453558,0.999999932429,0.000215706176775,-0.000297455550389,1.15046175075e-05,1793255972147860736
+393,6.550000000,POSE2_TO_POSE3_RETREAT,807.83229453,759,735,739,694.83229453,661,930,810,838,672,646,673.83229453,0.400965628904,-0.0153770791416,0.0698090515493,0.999999932551,0.000214414041439,-0.000297988362984,1.12737916275e-05,1793255972164527104
+394,6.566666667,POSE2_TO_POSE3_RETREAT,808,759,735,739,694.58488399,661,930,810,838,672,646,673.58488399,0.400965789641,-0.0153778932527,0.0698100262482,0.999999933009,0.00021421515768,-0.000296578901157,1.16087636398e-05,1793255972181193984
+395,6.583333333,POSE2_TO_POSE3_RETREAT,807.990428396,759,735,739,694.009571604,661,930,810,838,672,646,673.009571604,0.400966437431,-0.015379210226,0.0698115570711,0.999999933594,0.0002144697169,-0.00029439355198,1.21712518439e-05,1793255972197860864
+396,6.600000000,POSE2_TO_POSE3_RETREAT,807.393408354,759,735,739,694.606591646,661,930,810,838,672,646,673.606591646,0.400965345386,-0.0153785585019,0.06981094202,0.999999933294,0.000213573102609,-0.000296076244677,1.16986990267e-05,1793255972214527232
+397,6.616666667,POSE2_TO_POSE3_RETREAT,807.195268091,759,735,739,694.804731909,661,930,809.804731909,838,672,646.195268091,673.804731909,0.400965203195,-0.0153783938867,0.0698108794242,0.999999933412,0.000212305800834,-0.000296600609256,1.14054173481e-05,1793255972231193856
+398,6.633333333,POSE2_TO_POSE3_RETREAT,807.767823422,759,735,739,694.232176578,661,930,809.232176578,838,672,646.767823422,673.232176578,0.400966896264,-0.0153791704387,0.0698118842551,0.999999934337,0.00021032227529,-0.000294886910076,1.14585144263e-05,1793255972247860992
+399,6.650000000,POSE2_TO_POSE3_RETREAT,808,759,735,739,694.342743411,661,930,809.342743411,838,672,646.657256589,673.342743411,0.400967092593,-0.0153796827535,0.0698124175128,0.999999934483,0.000210592868776,-0.000294191118697,1.16689439861e-05,1793255972264528128
+400,6.666666667,POSE2_TO_POSE3_RETREAT,808,759,735,739,694.91927634,661,930,809.91927634,838,672,646.08072366,673.91927634,0.400966267977,-0.0153800148287,0.0698126291046,0.999999934097,0.000212401024795,-0.000294189654879,1.19866919741e-05,1793255972281194496
+401,6.683333333,POSE2_TO_POSE3_RETREAT,808,759,735,739,695,661,930,810,838,672,646.510280156,673.489719844,0.400965596894,-0.0153812732217,0.0698121805119,0.999999934103,0.000212188084306,-0.000294334498277,1.17252031211e-05,1793255972297861120
+402,6.700000000,POSE2_TO_POSE3_RETREAT,808,759,735,739,695,661,930,810,838,672,646.898949972,673.101050028,0.400965241318,-0.0153823960485,0.0698118924794,0.999999934235,0.000211575928771,-0.00029433738722,1.14693789134e-05,1793255972314527232
+403,6.716666667,POSE2_TO_POSE3_RETREAT,808,759,735,739,695,661,930,810,838,672,646.32041845,673.67958155,0.400966258451,-0.015382165664,0.0698128710184,0.999999934661,0.000210632270274,-0.000293556956169,1.16859391545e-05,1793255972331193856
+404,6.733333333,POSE2_TO_POSE3_RETREAT,808,759,735,739,695,661,930,810,838,672,646,673.745143398,0.400965984925,-0.0153809428284,0.0698129877398,0.999999934652,0.00021047115112,-0.000293710594385,1.14989838411e-05,1793255972347860224
+405,6.750000000,POSE2_TO_POSE3_RETREAT,808,759,735,739,695,661,930,810,838,672,646,673.17391081,0.40096410919,-0.0153784879755,0.0698120346114,0.999999934102,0.000211281466966,-0.000295023775089,1.08111090976e-05,1793255972364527104
+406,6.766666667,POSE2_TO_POSE3_RETREAT,808,759,735,739,695,661,930,810,838,672,646.411295756,673.411295756,0.400964021925,-0.0153798027111,0.0698122111261,0.999999934145,0.000211157273074,-0.00029495925438,1.09981938007e-05,1793255972381193984

Obstacle_avoidance/cylinder_15A_10/position_07/depth_01/simulation_data.csv

@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+1,0.016666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+2,0.033333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+3,0.050000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+4,0.066666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+5,0.083333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+6,0.100000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+7,0.116666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+8,0.133333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+9,0.150000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+10,0.166666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+11,0.183333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+12,0.200000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+13,0.216666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+14,0.233333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+15,0.250000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+16,0.266666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+17,0.283333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+18,0.300000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+19,0.316666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+20,0.333333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+21,0.350000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+22,0.366666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+23,0.383333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+24,0.400000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+25,0.416666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+26,0.433333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+27,0.450000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+28,0.466666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+29,0.483333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+30,0.500000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+31,0.516666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+32,0.533333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+33,0.550000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+34,0.566666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+35,0.583333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+36,0.600000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+37,0.616666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+38,0.633333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+39,0.650000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+40,0.666666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+41,0.683333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+42,0.700000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+43,0.716666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+44,0.733333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+45,0.750000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+46,0.766666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+47,0.783333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+48,0.800000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+49,0.816666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+50,0.833333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+51,0.850000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+52,0.866666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+53,0.883333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+54,0.900000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+55,0.916666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+56,0.933333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+57,0.950000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+58,0.966666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+59,0.983333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+60,1.000000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+61,1.016666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+62,1.033333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+63,1.050000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+64,1.066666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+65,1.083333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+66,1.100000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+67,1.116666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+68,1.133333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+69,1.150000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+70,1.166666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+71,1.183333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+72,1.200000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+73,1.216666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+74,1.233333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+75,1.250000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+76,1.266666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+77,1.283333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+78,1.300000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+79,1.316666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+80,1.333333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+81,1.350000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+82,1.366666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+83,1.383333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+84,1.400000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+85,1.416666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+86,1.433333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+87,1.450000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+88,1.466666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+89,1.483333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+90,1.500000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+91,1.516666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+92,1.533333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+93,1.550000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+94,1.566666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+95,1.583333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+96,1.600000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+97,1.616666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+98,1.633333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+99,1.650000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+100,1.666666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+101,1.683333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+102,1.700000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+103,1.716666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+104,1.733333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+105,1.750000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+106,1.766666667,pose1_to_pose2_press,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+107,1.783333333,pose1_to_pose2_press,0.575666826538,-0.00981836474899,1.06002053657,0.54623797695,-0.00114411792374,1.05969224135
+108,1.800000000,pose1_to_pose2_press,0.575666859549,-0.00981835774016,1.06002052775,0.54623800964,-0.00114411191152,1.05969223492
+109,1.816666667,pose1_to_pose2_press,0.575666896467,-0.00981834990168,1.06002051789,0.5462380462,-0.00114410518762,1.05969222773
+110,1.833333333,pose1_to_pose2_press,0.575666938723,-0.00981834092982,1.0600205066,0.546238088046,-0.00114409749151,1.0596922195
+111,1.850000000,pose1_to_pose2_press,0.575667070773,-0.00981832080749,1.06002053155,0.546238219739,-0.00114407856973,1.05969224472
+112,1.866666667,pose1_to_pose2_press,0.575667156126,-0.00981830802145,1.06002054936,0.546238304887,-0.00114406648208,1.05969226244
+113,1.883333333,pose1_to_pose2_press,0.575667344882,-0.00981827974567,1.06002058873,0.546238493189,-0.00114403975076,1.05969230164
+114,1.900000000,pose1_to_pose2_press,0.575667528989,-0.00981826675468,1.06002060732,0.546238677134,-0.00114402733924,1.05969231955
+115,1.916666667,pose1_to_pose2_press,0.575668166736,-0.00981829210254,1.06002057616,0.54623931566,-0.0011440502245,1.05969228362
+116,1.933333333,pose1_to_pose2_press,0.575670415401,-0.00981831690981,1.06002051819,0.546241564491,-0.00114407444399,1.05969222625
+117,1.950000000,pose1_to_pose2_press,0.575678235958,-0.00981823714353,1.06002046481,0.546249383054,-0.00114400163602,1.05969216773
+118,1.966666667,pose1_to_pose2_press,0.575693310586,-0.00981828623398,1.06002065551,0.546264459318,-0.00114404512238,1.05969235976
+119,1.983333333,pose1_to_pose2_press,0.575717712796,-0.00981830566136,1.06002051152,0.546288862061,-0.0011440625541,1.05969222064
+120,2.000000000,pose1_to_pose2_press,0.57575212376,-0.00981825855576,1.06002059517,0.546323271269,-0.00114402177406,1.05969229446
+121,2.016666667,pose1_to_pose2_press,0.575797727755,-0.00981818111084,1.06002049168,0.54636887407,-0.00114394822026,1.05969219514
+122,2.033333333,pose1_to_pose2_press,0.575853145953,-0.00981808219396,1.06002031721,0.546424291877,-0.00114385061629,1.05969202095
+123,2.050000000,pose1_to_pose2_press,0.575918375708,-0.00981820428743,1.06002040263,0.546489522881,-0.00114396852672,1.05969210487
+124,2.066666667,pose1_to_pose2_press,0.575994449288,-0.00981816202091,1.06002040678,0.546565597256,-0.00114392340496,1.0596921131
+125,2.083333333,pose1_to_pose2_press,0.57608037993,-0.00981808659915,1.06002051773,0.546651526189,-0.00114385371092,1.05969222585
+126,2.100000000,pose1_to_pose2_press,0.576177060038,-0.00981816127689,1.06002063241,0.546748207437,-0.00114392449517,1.05969234104
+127,2.116666667,pose1_to_pose2_press,0.576285328472,-0.00981818852126,1.06002032109,0.546856476202,-0.00114395059994,1.05969203032
+128,2.133333333,pose1_to_pose2_press,0.576406645293,-0.00981813980054,1.06002055641,0.546977791596,-0.0011439066853,1.05969226657
+129,2.150000000,pose1_to_pose2_press,0.576543039988,-0.00981825139452,1.06002056035,0.547114187209,-0.00114401531774,1.05969226643
+130,2.166666667,pose1_to_pose2_press,0.576694895941,-0.00981813705763,1.06002058323,0.54726604268,-0.0011439025053,1.05969229213
+131,2.183333333,pose1_to_pose2_press,0.576863848454,-0.00981817862812,1.06002057843,0.547434996218,-0.00114394071182,1.05969228426
+132,2.200000000,pose1_to_pose2_press,0.577049725092,-0.00981824402513,1.06002048492,0.547620872282,-0.0011440081918,1.05969218721
+133,2.216666667,pose1_to_pose2_press,0.577254559062,-0.00981822899703,1.06002046937,0.547825705145,-0.00114399696316,1.05969217046
+134,2.233333333,pose1_to_pose2_press,0.577476296264,-0.0098183079439,1.06002056083,0.548047444349,-0.00114406925219,1.05969225826
+135,2.250000000,pose1_to_pose2_press,0.57771481912,-0.00981829146657,1.06002059657,0.54828596721,-0.00114405259612,1.05969229819
+136,2.266666667,pose1_to_pose2_press,0.577974643987,-0.00981821994953,1.06002076389,0.548545791371,-0.00114398329405,1.05969247023
+137,2.283333333,pose1_to_pose2_press,0.578253056651,-0.0098180145791,1.06002081668,0.548824201142,-0.00114378829015,1.05969250838
+138,2.300000000,pose1_to_pose2_press,0.578548256041,-0.00981833348252,1.06002056205,0.549119406802,-0.00114408560104,1.05969226222
+139,2.316666667,pose1_to_pose2_press,0.578859895315,-0.00981822988964,1.0600205229,0.54943104368,-0.00114398999399,1.0596922268
+140,2.333333333,pose1_to_pose2_press,0.579189008292,-0.00981820968319,1.06002060787,0.549760157476,-0.00114396687702,1.05969231525
+141,2.350000000,pose1_to_pose2_press,0.579532932024,-0.0098181688026,1.06002059031,0.55010407962,-0.00114393149731,1.05969229463
+142,2.366666667,pose1_to_pose2_press,0.579893453346,-0.00981821126645,1.06002054051,0.550464601212,-0.00114397307953,1.05969224384
+143,2.383333333,pose1_to_pose2_press,0.580279990347,-0.00981828349978,1.06002063759,0.550851139738,-0.0011440402949,1.0596923368
+144,2.400000000,pose1_to_pose2_press,0.580692210116,-0.00981822188,1.06002071718,0.551263357808,-0.00114398470082,1.05969240945
+145,2.416666667,pose1_to_pose2_press,0.581132136211,-0.00981815608841,1.06002029691,0.551703283178,-0.00114392062252,1.05969200878
+146,2.433333333,pose1_to_pose2_press,0.581591708109,-0.00981822418984,1.06002052597,0.5521628547,-0.00114399031797,1.05969222949
+147,2.450000000,pose1_to_pose2_press,0.582066862476,-0.00981815240302,1.06002027359,0.55263800877,-0.00114391928455,1.0596919838
+148,2.466666667,pose1_to_pose2_press,0.5825576391,-0.00981809190412,1.06002049469,0.553128784905,-0.00114386058341,1.0596922012
+149,2.483333333,pose1_to_pose2_press,0.583064563809,-0.00981820255017,1.0600205302,0.553635711971,-0.00114396328686,1.05969223529
+150,2.500000000,pose1_to_pose2_press,0.583593115623,-0.00981822964972,1.0600205259,0.554164262714,-0.00114399400581,1.05969223125
+151,2.516666667,pose1_to_pose2_press,0.584146780305,-0.00981825879248,1.06002052742,0.554717927642,-0.00114402232718,1.05969223245
+152,2.533333333,pose1_to_pose2_press,0.584727893289,-0.00981828198962,1.06002045449,0.555299041314,-0.00114404302041,1.05969216397
+153,2.550000000,pose1_to_pose2_press,0.585316315239,-0.00981823972064,1.06002048001,0.555887462524,-0.00114400322545,1.05969219052
+154,2.566666667,pose1_to_pose2_press,0.585906638081,-0.00981818540353,1.06002058994,0.556477785382,-0.0011439491112,1.05969229362
+155,2.583333333,pose1_to_pose2_press,0.586502957786,-0.00981819250531,1.06002042838,0.55707410613,-0.00114395261396,1.05969213361
+156,2.600000000,pose1_to_pose2_press,0.587107997148,-0.0098182026417,1.06002050891,0.55767914264,-0.00114397226251,1.05969221849
+157,2.616666667,pose1_to_pose2_press,0.587729644056,-0.00981817884397,1.06002066973,0.558300791744,-0.00114394144294,1.05969236806
+158,2.633333333,pose1_to_pose2_press,0.588377324785,-0.00981810603263,1.06002062952,0.558948470632,-0.00114387443081,1.05969233959
+159,2.650000000,pose1_to_pose2_press,0.589053454265,-0.00981832286628,1.06002066229,0.559624603094,-0.00114408149918,1.0596923631
+160,2.666666667,pose1_to_pose2_press,0.589746986058,-0.00981841419354,1.06002069911,0.560318136628,-0.00114416718431,1.05969239292
+161,2.683333333,pose1_to_pose2_press,0.59045389058,-0.00981829457657,1.06002063438,0.561025039762,-0.00114405220984,1.05969233003
+162,2.700000000,pose1_to_pose2_press,0.591160386391,-0.00981826362673,1.06002066249,0.561731534103,-0.00114402615923,1.05969236044
+163,2.716666667,pose1_to_pose2_press,0.591861607449,-0.00981829747218,1.06002070503,0.562432754808,-0.00114406105474,1.05969240697
+164,2.733333333,pose1_to_pose2_press,0.592552038945,-0.00981816452614,1.06002051443,0.563123185957,-0.00114392899639,1.05969222404
+165,2.750000000,pose1_to_pose2_press,0.593245746521,-0.00981813325368,1.0600205181,0.563816893337,-0.00114389849826,1.05969222475
+166,2.766666667,pose1_to_pose2_press,0.593949695836,-0.00981822277577,1.0600204206,0.56452084308,-0.00114398669251,1.05969212408
+167,2.783333333,pose1_to_pose2_press,0.594666560499,-0.00981833591087,1.0600205106,0.565237710178,-0.00114409160833,1.05969221299
+168,2.800000000,pose1_to_pose2_press,0.595401755201,-0.00981837058026,1.06002036708,0.565972904441,-0.00114412773642,1.05969207037
+169,2.816666667,pose1_to_pose2_press,0.596166128971,-0.00981831393267,1.06002052491,0.566737276912,-0.00114407548366,1.05969222853
+170,2.833333333,pose1_to_pose2_press,0.596935357499,-0.00981824358253,1.06002066301,0.567506505837,-0.00114400383862,1.05969236531
+171,2.850000000,pose1_to_pose2_press,0.597696127348,-0.00981827008163,1.06002053,0.568267276376,-0.00114402788513,1.05969223534
+172,2.866666667,pose1_to_pose2_press,0.598434084836,-0.00981824883835,1.06002050329,0.569005232148,-0.00114401244128,1.0596922093
+173,2.883333333,pose1_to_pose2_press,0.599146001178,-0.00981818104837,1.06002061662,0.569717146715,-0.00114395096129,1.05969231507
+174,2.900000000,pose1_to_pose2_press,0.599849633003,-0.0098182645565,1.06002050844,0.570420780136,-0.00114402926124,1.05969220139
+175,2.916666667,pose1_to_pose2_press,0.600553658097,-0.00981797505935,1.06002079188,0.571124800512,-0.00114375553627,1.05969249117
+176,2.933333333,pose1_to_pose2_press,0.6012665371,-0.00981802042049,1.06002058865,0.571837681771,-0.00114379326603,1.05969228732
+177,2.950000000,pose1_to_pose2_press,0.60199629462,-0.00981809058077,1.06002077228,0.572567441529,-0.00114385590361,1.0596924692
+178,2.966666667,pose1_to_pose2_press,0.602740146854,-0.00981820073311,1.06002059455,0.573311294327,-0.00114396383677,1.0596922996
+179,2.983333333,pose1_to_pose2_press,0.603464853117,-0.00981822357995,1.06002043947,0.574036000337,-0.00114398745082,1.05969214699
+180,3.000000000,pose1_to_pose2_press,0.604165369182,-0.00981815925419,1.06002046873,0.574736515879,-0.00114392487564,1.05969217691
+181,3.016666667,pose1_to_pose2_press,0.604824871199,-0.00981816718686,1.06002050862,0.575396019128,-0.00114392858249,1.05969221806
+182,3.033333333,pose1_to_pose2_press,0.605458848542,-0.0098181712301,1.06002050817,0.576029996334,-0.0011439330601,1.05969221853
+183,3.050000000,pose1_to_pose2_press,0.606079390535,-0.00981814445168,1.06002044715,0.57665053637,-0.00114391283081,1.05969215991
+184,3.066666667,pose1_to_pose2_press,0.606697037097,-0.00981834039866,1.06002023035,0.577268187026,-0.00114409459802,1.0596919508
+185,3.083333333,pose1_to_pose2_press,0.607315408044,-0.00981826200476,1.06002049994,0.577886557087,-0.00114401957333,1.05969221095
+186,3.100000000,pose1_to_pose2_press,0.607929035643,-0.00981839889051,1.06002051797,0.578500186374,-0.00114415086599,1.05969222551
+187,3.116666667,pose1_to_pose2_press,0.608528548093,-0.00981835280918,1.06002054042,0.579099698099,-0.00114410744167,1.05969224281
+188,3.133333333,pose1_to_pose2_press,0.609102003783,-0.0098182286299,1.0600207175,0.579673153384,-0.0011439847259,1.0596924176
+189,3.150000000,pose1_to_pose2_press,0.609647764508,-0.00981815362856,1.06002046532,0.580218912154,-0.00114391629862,1.05969216696
+190,3.166666667,pose1_to_pose2_press,0.610165230283,-0.00981818659727,1.06002020724,0.58073637696,-0.00114395231906,1.05969191522
+191,3.183333333,pose1_to_pose2_press,0.610666948882,-0.00981822059021,1.06002034548,0.581238096136,-0.00114398415884,1.05969205864
+192,3.200000000,pose1_to_pose2_press,0.611152736914,-0.00981811272002,1.0600206643,0.581723883446,-0.00114387898207,1.05969237103
+193,3.216666667,pose1_to_pose2_press,0.611618479499,-0.00981828456177,1.06002079298,0.582189628161,-0.00114404390717,1.0596924916
+194,3.233333333,pose1_to_pose2_press,0.612066340619,-0.00981826389023,1.06002036417,0.582637490108,-0.00114401999247,1.05969207443
+195,3.250000000,pose1_to_pose2_press,0.612498613203,-0.00981825717852,1.06002035455,0.583069762266,-0.00114401476974,1.05969206375
+196,3.266666667,pose1_to_pose2_press,0.61292156064,-0.00981824688483,1.06002048078,0.583492709791,-0.00114400427934,1.05969218513
+197,3.283333333,pose1_to_pose2_press,0.613336731237,-0.00981822946318,1.06002059113,0.5839078799,-0.00114398833949,1.05969229522
+198,3.300000000,pose1_to_pose2_press,0.613738684215,-0.00981819403821,1.06002064308,0.584309831364,-0.0011439576728,1.05969234945
+199,3.316666667,pose1_to_pose2_press,0.614122615821,-0.0098181671319,1.06002058803,0.584693762486,-0.0011439321919,1.05969229117
+200,3.333333333,pose1_to_pose2_press,0.614476173863,-0.00981818873717,1.06002047316,0.585047321389,-0.0011439507173,1.05969217385
+201,3.350000000,pose1_to_pose2_press,0.614799825096,-0.00981812151262,1.06002057775,0.585370971417,-0.00114388669961,1.05969229443
+202,3.366666667,pose1_to_pose2_press,0.615093083372,-0.00981827379139,1.06002028804,0.5856642317,-0.0011440319969,1.05969200178
+203,3.383333333,pose1_to_pose2_press,0.615368138572,-0.00981819087857,1.06002035712,0.585939284017,-0.00114395877664,1.05969206598
+204,3.400000000,pose1_to_pose2_press,0.615628135148,-0.00981809845655,1.06002053456,0.586199280606,-0.00114386610714,1.05969224266
+205,3.416666667,pose1_to_pose2_press,0.615876970597,-0.00981812922873,1.06002055199,0.586448116753,-0.00114389440051,1.0596922568
+206,3.433333333,pose1_to_pose2_press,0.616113285151,-0.00981827960873,1.06002045784,0.58668443197,-0.00114404236266,1.05969216027
+207,3.450000000,pose1_to_pose2_press,0.6163337087,-0.00981835939058,1.0600205209,0.586904857334,-0.0011441155711,1.05969222819
+208,3.466666667,pose1_to_pose2_press,0.616537227937,-0.00981816107868,1.06002055493,0.587108374728,-0.00114392365125,1.05969225342
+209,3.483333333,pose1_to_pose2_press,0.616723199988,-0.00981814025264,1.06002041999,0.587294346099,-0.00114390475229,1.05969212375
+210,3.500000000,pose1_to_pose2_press,0.61689367067,-0.00981832027047,1.06002051697,0.587464818598,-0.00114407842676,1.05969222013
+211,3.516666667,pose1_to_pose2_press,0.617049657297,-0.00981824598121,1.06002065998,0.58762080419,-0.00114400782902,1.05969235476
+212,3.533333333,pose1_to_pose2_press,0.61719110375,-0.00981825131587,1.06002077228,0.587762250814,-0.00114401253566,1.05969246451
+213,3.550000000,pose1_to_pose2_press,0.617318230002,-0.00981811496842,1.06002078567,0.587889375143,-0.00114388226601,1.0596924863
+214,3.566666667,pose1_to_pose2_press,0.617430099257,-0.00981820196664,1.06002058612,0.588001244826,-0.00114396738141,1.05969229573
+215,3.583333333,pose1_to_pose2_press,0.617528634025,-0.00981833623845,1.06002038957,0.588099781456,-0.00114409519292,1.05969210066
+216,3.600000000,pose1_to_pose2_press,0.617614391394,-0.00981821037386,1.06002043678,0.588185538205,-0.00114397107045,1.05969214426
+217,3.616666667,pose1_to_pose2_press,0.617688043593,-0.00981829107997,1.06002054745,0.588259190755,-0.00114404963663,1.05969225259
+218,3.633333333,pose1_to_pose2_press,0.617750759486,-0.00981813295318,1.06002062498,0.588321904002,-0.00114390093648,1.0596923327
+219,3.650000000,pose1_to_pose2_press,0.61780269581,-0.00981826726655,1.06002029776,0.588373841725,-0.00114403082743,1.0596920093
+220,3.666666667,pose1_to_pose2_press,0.617845893782,-0.00981817346728,1.06002054134,0.588417039426,-0.00114393792642,1.05969225282
+221,3.683333333,pose1_to_pose2_press,0.617880456465,-0.00981822942765,1.06002049753,0.588451603921,-0.0011439879296,1.05969220347
+222,3.700000000,pose1_to_pose2_press,0.617908557041,-0.00981824801442,1.06002058261,0.588479705338,-0.00114400384354,1.05969228452
+223,3.716666667,pose1_to_pose2_press,0.61793073038,-0.00981822080642,1.0600207586,0.588501878065,-0.00114397877489,1.05969245956
+224,3.733333333,pose1_to_pose2_press,0.617948297412,-0.00981827485452,1.06002066859,0.588519444467,-0.00114403491571,1.05969236943
+225,3.750000000,pose1_to_pose2_press,0.617961776795,-0.0098183254939,1.06002067862,0.588532925061,-0.00114408162831,1.05969237671
+226,3.766666667,pose1_to_pose2_press,0.617971370867,-0.00981823946029,1.06002066776,0.588542517339,-0.00114400154512,1.05969236801
+227,3.783333333,pose1_to_pose2_press,0.6179785285,-0.00981814071497,1.06002058668,0.588549672905,-0.00114390954453,1.05969229248
+228,3.800000000,pose1_to_pose2_press,0.617983536653,-0.00981814817424,1.06002031271,0.588554681398,-0.00114391551901,1.05969202914
+229,3.816666667,pose1_to_pose2_press,0.617986861931,-0.00981817538908,1.0600202727,0.588558006711,-0.00114394252669,1.05969199082
+230,3.833333333,pose1_to_pose2_press,0.617989007851,-0.00981820636749,1.06002033238,0.58856015254,-0.00114397384067,1.05969204836
+231,3.850000000,pose1_to_pose2_press,0.617990728083,-0.00981826651069,1.06002038013,0.588561873624,-0.0011440312669,1.0596920909
+232,3.866666667,pose1_to_pose2_press,0.617991982611,-0.00981834552171,1.06002041486,0.588563129695,-0.00114410532405,1.05969211836
+233,3.883333333,pose1_to_pose2_press,0.617992724608,-0.00981839225317,1.0600204354,0.588563872605,-0.00114414912553,1.0596921346
+234,3.900000000,pose1_to_pose2_press,0.617993093722,-0.00981835117867,1.06002045736,0.588564240961,-0.00114411050931,1.05969215992
+235,3.916666667,pose1_to_pose2_press,0.617993244183,-0.00981833331608,1.06002046652,0.588564391093,-0.00114409371695,1.05969217054
+236,3.933333333,pose1_to_pose2_press,0.617993318049,-0.00981832454685,1.06002047102,0.588564464797,-0.00114408547312,1.05969217576
+237,3.950000000,pose1_to_pose2_press,0.61799340813,-0.00981831385254,1.0600204765,0.588564554681,-0.00114407541955,1.05969218212
+238,3.966666667,pose1_to_pose2_press,0.617993565759,-0.009818295139,1.06002048609,0.588564711965,-0.00114405782721,1.05969219324
+239,3.983333333,pose1_to_pose2_press,0.617993802866,-0.00981826699003,1.06002050052,0.588564948553,-0.00114403136476,1.05969220998
+240,4.000000000,pose1_to_pose2_press,0.617994114323,-0.00981833415401,1.06002062865,0.588565261738,-0.00114409279664,1.05969233448
+241,4.016666667,pose1_to_pose2_press,0.617994297676,-0.00981839199544,1.06002072327,0.588565446534,-0.00114414586687,1.05969242579
+242,4.033333333,pose1_to_pose2_press,0.617994398937,-0.00981842393945,1.06002077552,0.58856554859,-0.00114417517589,1.05969247622
+243,4.050000000,pose1_to_pose2_press,0.617994446998,-0.00981839390731,1.06002078663,0.588565596276,-0.00114414636601,1.05969248863
+244,4.066666667,pose1_to_pose2_press,0.617994461799,-0.00981833830281,1.06002077601,0.588565610187,-0.0011440936744,1.05969248063
+245,4.083333333,pose1_to_pose2_press,0.617994467826,-0.00981831565988,1.06002077168,0.588565615851,-0.00114407222048,1.05969247737
+246,4.100000000,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615852,-0.00114407222029,1.05969247737
+247,4.116666667,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615852,-0.00114407222028,1.05969247737
+248,4.133333333,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615852,-0.00114407222046,1.05969247737
+249,4.150000000,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615852,-0.00114407222044,1.05969247737
+250,4.166666667,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615852,-0.00114407222045,1.05969247737
+251,4.183333333,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615852,-0.00114407222048,1.05969247737
+252,4.200000000,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615852,-0.00114407222044,1.05969247737
+253,4.216666667,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615852,-0.00114407222042,1.05969247737
+254,4.233333333,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615853,-0.00114407222049,1.05969247737
+255,4.250000000,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615852,-0.00114407222037,1.05969247737
+256,4.266666667,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615853,-0.00114407222048,1.05969247737
+257,4.283333333,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615852,-0.0011440722204,1.05969247737
+258,4.300000000,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615853,-0.00114407222048,1.05969247737
+259,4.316666667,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615853,-0.00114407222046,1.05969247737
+260,4.333333333,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615853,-0.00114407222047,1.05969247737
+261,4.350000000,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615853,-0.00114407222047,1.05969247737
+262,4.366666667,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615853,-0.00114407222046,1.05969247737
+263,4.383333333,pose2_hold,0.617994467826,-0.00981831565988,1.06002077168,0.588565615853,-0.00114407222027,1.05969247737
+264,4.400000000,pose2_to_pose3_retreat,0.617994467826,-0.00981831565988,1.06002077168,0.588565615853,-0.00114407222044,1.05969247737
+265,4.416666667,pose2_to_pose3_retreat,0.617994281842,-0.0098183173196,1.06002071253,0.588565429124,-0.00114407656329,1.05969241405
+266,4.433333333,pose2_to_pose3_retreat,0.617994089341,-0.00981826491995,1.06002079817,0.588565234716,-0.00114403081149,1.05969249508
+267,4.450000000,pose2_to_pose3_retreat,0.61799380642,-0.00981825618407,1.06002065683,0.588564952139,-0.00114402079434,1.05969235677
+268,4.466666667,pose2_to_pose3_retreat,0.617993685771,-0.00981825245874,1.06002059655,0.588564831637,-0.00114401652263,1.05969229779
+269,4.483333333,pose2_to_pose3_retreat,0.61799367647,-0.00981825217157,1.06002059191,0.588564822348,-0.00114401619334,1.05969229324
+270,4.500000000,pose2_to_pose3_retreat,0.617993184565,-0.00981823698281,1.06002034615,0.588564331041,-0.00114399877688,1.05969205276
+271,4.516666667,pose2_to_pose3_retreat,0.617991732679,-0.00981818319716,1.06002025454,0.588562878445,-0.00114394731749,1.0596919632
+272,4.533333333,pose2_to_pose3_retreat,0.617988421294,-0.00981815483531,1.06002035812,0.588559565906,-0.00114392293351,1.05969206483
+273,4.550000000,pose2_to_pose3_retreat,0.61798023726,-0.00981818384584,1.06002051181,0.588551383122,-0.00114394785388,1.0596922154
+274,4.566666667,pose2_to_pose3_retreat,0.617965472728,-0.0098180788084,1.06002033616,0.588536616971,-0.00114384829791,1.05969204249
+275,4.583333333,pose2_to_pose3_retreat,0.617942091699,-0.00981814840461,1.06002066986,0.588513238425,-0.00114390946099,1.05969237778
+276,4.600000000,pose2_to_pose3_retreat,0.617909879014,-0.00981825243574,1.06002081607,0.588481026432,-0.00114401151107,1.05969251552
+277,4.616666667,pose2_to_pose3_retreat,0.617867705024,-0.00981832109783,1.06002052988,0.58843885193,-0.00114408175225,1.05969223329
+278,4.633333333,pose2_to_pose3_retreat,0.61781725831,-0.00981813309261,1.06002062815,0.58838840386,-0.00114389833324,1.05969233377
+279,4.650000000,pose2_to_pose3_retreat,0.617759115509,-0.00981808989695,1.06002067962,0.58833026102,-0.00114385525781,1.05969238429
+280,4.666666667,pose2_to_pose3_retreat,0.617693125418,-0.00981814040965,1.06002056536,0.588264270798,-0.00114390629228,1.05969227084
+281,4.683333333,pose2_to_pose3_retreat,0.617618971398,-0.00981816449134,1.06002062188,0.588190116186,-0.0011439328446,1.0596923233
+282,4.700000000,pose2_to_pose3_retreat,0.617533873767,-0.00981841717402,1.06002041737,0.588105023032,-0.00114417002583,1.05969212307
+283,4.716666667,pose2_to_pose3_retreat,0.617436872706,-0.00981824461983,1.06002079564,0.58800802019,-0.00114400425427,1.05969248573
+284,4.733333333,pose2_to_pose3_retreat,0.617325050544,-0.00981817205832,1.06002072053,0.587896197168,-0.00114393447896,1.05969241835
+285,4.750000000,pose2_to_pose3_retreat,0.617197899964,-0.00981814566136,1.06002043507,0.587769046012,-0.00114390991152,1.05969213955
+286,4.766666667,pose2_to_pose3_retreat,0.617054426337,-0.00981822119253,1.06002027311,0.587625573731,-0.00114398085826,1.05969198146
+287,4.783333333,pose2_to_pose3_retreat,0.616894275358,-0.00981823690852,1.06002026147,0.587465423142,-0.00114399530541,1.05969197349
+288,4.800000000,pose2_to_pose3_retreat,0.616717518693,-0.00981811476236,1.06002028033,0.587288664322,-0.00114388063253,1.05969199444
+289,4.816666667,pose2_to_pose3_retreat,0.616522891661,-0.0098181513549,1.06002041263,0.587094037994,-0.00114391520088,1.05969212237
+290,4.833333333,pose2_to_pose3_retreat,0.616311728647,-0.0098181859386,1.06002066856,0.58688287406,-0.00114395342622,1.05969236809
+291,4.850000000,pose2_to_pose3_retreat,0.616083137808,-0.00981800149708,1.06002080013,0.58665428332,-0.00114376910466,1.0596924941
+292,4.866666667,pose2_to_pose3_retreat,0.615838042811,-0.00981820354685,1.06002063583,0.586409190242,-0.00114396462907,1.05969233443
+293,4.883333333,pose2_to_pose3_retreat,0.615576334938,-0.00981821410521,1.06002046217,0.586147482071,-0.00114397613711,1.05969216943
+294,4.900000000,pose2_to_pose3_retreat,0.615296992632,-0.00981814031895,1.06002047539,0.585868139102,-0.00114390468766,1.05969218784
+295,4.916666667,pose2_to_pose3_retreat,0.615001008474,-0.00981816738289,1.06002060348,0.585572155388,-0.00114393060129,1.05969231374
+296,4.933333333,pose2_to_pose3_retreat,0.614688803843,-0.00981822253814,1.06002053224,0.585259950534,-0.00114398716436,1.05969223538
+297,4.950000000,pose2_to_pose3_retreat,0.614362120604,-0.00981836923471,1.06002052792,0.584933269081,-0.00114412800286,1.05969223252
+298,4.966666667,pose2_to_pose3_retreat,0.614020081112,-0.00981827889537,1.0600206907,0.584591229592,-0.00114403792825,1.0596923958
+299,4.983333333,pose2_to_pose3_retreat,0.613659012089,-0.00981832708553,1.06002066334,0.584230161027,-0.00114408494914,1.05969236563
+300,5.000000000,pose2_to_pose3_retreat,0.613276649758,-0.00981836456511,1.06002058462,0.583847798342,-0.001144123941,1.05969228484
+301,5.016666667,pose2_to_pose3_retreat,0.612862552873,-0.00981819483129,1.06002060375,0.583433699235,-0.0011439617908,1.05969230722
+302,5.033333333,pose2_to_pose3_retreat,0.612421028872,-0.00981817236518,1.06002027447,0.582992175429,-0.00114393854192,1.05969198272
+303,5.050000000,pose2_to_pose3_retreat,0.611956945903,-0.00981827071329,1.06002039452,0.582528093183,-0.00114403456279,1.05969209941
+304,5.066666667,pose2_to_pose3_retreat,0.611479852128,-0.00981825412233,1.06002037978,0.58205100044,-0.00114401416555,1.05969209265
+305,5.083333333,pose2_to_pose3_retreat,0.610993197903,-0.00981819787651,1.06002062629,0.581564346022,-0.001143958966,1.05969232872
+306,5.100000000,pose2_to_pose3_retreat,0.610500906644,-0.0098182054661,1.06002072749,0.5810720545,-0.00114396775452,1.05969242185
+307,5.116666667,pose2_to_pose3_retreat,0.609998084971,-0.00981830463025,1.06002055693,0.580569233541,-0.00114406430434,1.05969225621
+308,5.133333333,pose2_to_pose3_retreat,0.609473467654,-0.00981843187729,1.06002054675,0.580044618207,-0.00114418469924,1.05969224864
+309,5.150000000,pose2_to_pose3_retreat,0.608927975795,-0.00981824519123,1.06002050951,0.579499124349,-0.00114400453745,1.0596922183
+310,5.166666667,pose2_to_pose3_retreat,0.608362945,-0.00981820659873,1.06002045642,0.578934092201,-0.00114397073479,1.05969215995
+311,5.183333333,pose2_to_pose3_retreat,0.607780324842,-0.00981822832759,1.06002052923,0.578351473339,-0.00114398807119,1.05969223254
+312,5.200000000,pose2_to_pose3_retreat,0.607181188098,-0.00981831613709,1.06002059866,0.577752338436,-0.0011440694771,1.05969230615
+313,5.216666667,pose2_to_pose3_retreat,0.606557721244,-0.00981843230227,1.06002047841,0.577128870919,-0.00114418787963,1.05969218606
+314,5.233333333,pose2_to_pose3_retreat,0.605909986259,-0.00981826621849,1.06002029702,0.576481134192,-0.00114402780043,1.05969200217
+315,5.250000000,pose2_to_pose3_retreat,0.605238845235,-0.00981829812881,1.06002047098,0.575809995235,-0.00114405245997,1.05969218234
+316,5.266666667,pose2_to_pose3_retreat,0.604555241521,-0.00981817454452,1.06002051397,0.575126388455,-0.00114393934494,1.05969222347
+317,5.283333333,pose2_to_pose3_retreat,0.603864134158,-0.00981814829764,1.06002053099,0.574435280441,-0.00114391549378,1.05969223557
+318,5.300000000,pose2_to_pose3_retreat,0.603180931486,-0.00981814324894,1.06002055635,0.573752077601,-0.00114391122223,1.05969225536
+319,5.316666667,pose2_to_pose3_retreat,0.602503129575,-0.00981814780309,1.06002060624,0.573074275389,-0.00114391685889,1.05969230356
+320,5.333333333,pose2_to_pose3_retreat,0.601821978109,-0.00981819204873,1.06002063982,0.572393124428,-0.00114395917937,1.05969234267
+321,5.350000000,pose2_to_pose3_retreat,0.601124007943,-0.00981817363061,1.06002040118,0.571695155187,-0.00114393730329,1.05969211248
+322,5.366666667,pose2_to_pose3_retreat,0.600394914884,-0.00981829428458,1.0600203831,0.570966063387,-0.00114405370411,1.05969209379
+323,5.383333333,pose2_to_pose3_retreat,0.599647572243,-0.00981819219595,1.06002047246,0.570218719074,-0.00114395739399,1.0596921803
+324,5.400000000,pose2_to_pose3_retreat,0.598888054757,-0.00981815389159,1.06002054054,0.569459200437,-0.00114392319885,1.0596922429
+325,5.416666667,pose2_to_pose3_retreat,0.598137716082,-0.00981828071539,1.0600205593,0.568708863291,-0.00114404498511,1.05969225769
+326,5.433333333,pose2_to_pose3_retreat,0.59740377957,-0.00981835922423,1.06002056034,0.567974928272,-0.00114411846997,1.05969225758
+327,5.450000000,pose2_to_pose3_retreat,0.596690182548,-0.00981821710741,1.06002059236,0.567261329695,-0.00114398162207,1.05969228972
+328,5.466666667,pose2_to_pose3_retreat,0.595981686414,-0.00981825628138,1.06002076912,0.566552834097,-0.00114401883122,1.05969247027
+329,5.483333333,pose2_to_pose3_retreat,0.595270115889,-0.00981823809584,1.06002052218,0.565841263973,-0.00114399933445,1.05969222198
+330,5.500000000,pose2_to_pose3_retreat,0.594535673116,-0.00981821029871,1.06002048402,0.565106821384,-0.00114397065919,1.05969219041
+331,5.516666667,pose2_to_pose3_retreat,0.59378017266,-0.00981820814999,1.06002039975,0.56435132028,-0.0011439706154,1.05969210857
+332,5.533333333,pose2_to_pose3_retreat,0.593025956687,-0.00981822574341,1.06002039227,0.563597103606,-0.00114399081588,1.05969209514
+333,5.550000000,pose2_to_pose3_retreat,0.592283800539,-0.00981826486554,1.06002054245,0.562854947724,-0.00114402908463,1.05969224393
+334,5.566666667,pose2_to_pose3_retreat,0.591568754942,-0.00981835165388,1.06002046126,0.562139903022,-0.00114411235762,1.05969217535
+335,5.583333333,pose2_to_pose3_retreat,0.590881455324,-0.00981838950838,1.06002029703,0.561452604453,-0.00114414695453,1.05969200306
+336,5.600000000,pose2_to_pose3_retreat,0.590219386433,-0.00981826897464,1.06002034912,0.560790532933,-0.00114403510684,1.05969206141
+337,5.616666667,pose2_to_pose3_retreat,0.589566979719,-0.00981823352767,1.06002061628,0.560138126136,-0.00114400023907,1.05969232062
+338,5.633333333,pose2_to_pose3_retreat,0.588917561388,-0.00981821807894,1.06002070068,0.559488708332,-0.00114398318717,1.05969240008
+339,5.650000000,pose2_to_pose3_retreat,0.588261003229,-0.00981820966148,1.06002054399,0.558832150296,-0.00114397421909,1.0596922469
+340,5.666666667,pose2_to_pose3_retreat,0.587601895183,-0.00981826764875,1.06002054763,0.558173042835,-0.00114403025892,1.05969224951
+341,5.683333333,pose2_to_pose3_retreat,0.586942318123,-0.00981819209427,1.0600204976,0.557513464954,-0.00114395712935,1.05969220905
+342,5.700000000,pose2_to_pose3_retreat,0.58630213502,-0.00981815616867,1.06002056005,0.556873281486,-0.00114392297576,1.05969225739
+343,5.716666667,pose2_to_pose3_retreat,0.585687127143,-0.00981825441461,1.06002054351,0.556258274495,-0.00114401805787,1.05969224498
+344,5.733333333,pose2_to_pose3_retreat,0.585104632128,-0.00981823472106,1.06002054061,0.555675779831,-0.00114399709191,1.05969224421
+345,5.750000000,pose2_to_pose3_retreat,0.584552385792,-0.00981817164192,1.06002053736,0.55512353296,-0.0011439358118,1.05969224134
+346,5.766666667,pose2_to_pose3_retreat,0.58402466559,-0.00981814941833,1.06002051459,0.554595812087,-0.00114391574816,1.05969222164
+347,5.783333333,pose2_to_pose3_retreat,0.583504634838,-0.0098181357079,1.06002049313,0.554075782398,-0.00114389816071,1.05969220732
+348,5.800000000,pose2_to_pose3_retreat,0.582987288494,-0.00981827526189,1.0600204496,0.55355843757,-0.00114403302109,1.05969215193
+349,5.816666667,pose2_to_pose3_retreat,0.582473041794,-0.00981818867731,1.06002040555,0.553044189463,-0.00114395102313,1.05969211282
+350,5.833333333,pose2_to_pose3_retreat,0.581968313379,-0.00981822351177,1.06002062624,0.552539460326,-0.00114398851747,1.05969232791
+351,5.850000000,pose2_to_pose3_retreat,0.581489827897,-0.00981827307267,1.06002080443,0.552060975002,-0.00114403774573,1.05969250075
+352,5.866666667,pose2_to_pose3_retreat,0.581037481927,-0.00981822471811,1.06002070656,0.551608629335,-0.00114398811274,1.05969240956
+353,5.883333333,pose2_to_pose3_retreat,0.580612131694,-0.00981818230936,1.06002047558,0.551183279651,-0.00114394346109,1.05969218865
+354,5.900000000,pose2_to_pose3_retreat,0.580207212879,-0.00981823079474,1.06002038766,0.550778361267,-0.00114399055778,1.05969209872
+355,5.916666667,pose2_to_pose3_retreat,0.579820592041,-0.00981812600729,1.06002050542,0.550391738787,-0.00114389149547,1.0596922124
+356,5.933333333,pose2_to_pose3_retreat,0.579454485721,-0.00981824214833,1.06002055773,0.550025633693,-0.0011440037699,1.05969225699
+357,5.950000000,pose2_to_pose3_retreat,0.579109876442,-0.00981823079232,1.06002044456,0.549681024348,-0.00114399271315,1.05969214181
+358,5.966666667,pose2_to_pose3_retreat,0.57879018128,-0.00981816765562,1.06002039713,0.549361328176,-0.00114393287761,1.05969209775
+359,5.983333333,pose2_to_pose3_retreat,0.578493969642,-0.00981816348455,1.06002054623,0.549065115881,-0.00114393074522,1.05969225183
+360,6.000000000,pose2_to_pose3_retreat,0.578221006301,-0.00981803775697,1.06002061584,0.548792151455,-0.00114380853076,1.05969232596
+361,6.016666667,pose2_to_pose3_retreat,0.577960456419,-0.00981819715636,1.06002055922,0.548531604476,-0.00114395827743,1.05969226427
+362,6.033333333,pose2_to_pose3_retreat,0.577711420387,-0.00981831859735,1.06002053073,0.548282569185,-0.00114407721396,1.05969223573
+363,6.050000000,pose2_to_pose3_retreat,0.57747544193,-0.00981825380887,1.06002053985,0.548046589907,-0.00114401528392,1.05969224292
+364,6.066666667,pose2_to_pose3_retreat,0.577253547265,-0.00981812121992,1.06002062952,0.547824694577,-0.00114388502743,1.0596923305
+365,6.083333333,pose2_to_pose3_retreat,0.577048770635,-0.00981815044356,1.06002073409,0.547619918404,-0.00114391259554,1.05969243782
+366,6.100000000,pose2_to_pose3_retreat,0.576862063823,-0.00981826193538,1.06002054476,0.54743321182,-0.00114402336705,1.05969224702
+367,6.116666667,pose2_to_pose3_retreat,0.576694160388,-0.00981823413596,1.06002053508,0.547265307947,-0.00114399697586,1.05969223948
+368,6.133333333,pose2_to_pose3_retreat,0.57654270185,-0.00981821990964,1.06002042546,0.547113849075,-0.0011439838717,1.05969213029
+369,6.150000000,pose2_to_pose3_retreat,0.576407259743,-0.00981823606941,1.06002041967,0.546978407393,-0.00114399865157,1.05969212279
+370,6.166666667,pose2_to_pose3_retreat,0.576287534725,-0.0098182381197,1.0600203401,0.546858681826,-0.00114400241084,1.05969204739
+371,6.183333333,pose2_to_pose3_retreat,0.576182096117,-0.00981817925311,1.06002026813,0.546753242536,-0.00114394572157,1.05969197906
+372,6.200000000,pose2_to_pose3_retreat,0.576091063933,-0.00981811514864,1.0600203437,0.546662210475,-0.00114388136404,1.0596920503
+373,6.216666667,pose2_to_pose3_retreat,0.576011915655,-0.00981817670213,1.06002055991,0.546583062731,-0.00114394148426,1.05969225707
+374,6.233333333,pose2_to_pose3_retreat,0.575943852827,-0.00981827251719,1.06002048454,0.546515001129,-0.00114403250031,1.05969219852
+375,6.250000000,pose2_to_pose3_retreat,0.575885629995,-0.0098182346171,1.06002062535,0.546456778648,-0.00114399377399,1.05969232957
+376,6.266666667,pose2_to_pose3_retreat,0.575836136345,-0.00981817105131,1.06002051004,0.546407283527,-0.00114393523333,1.05969221335
+377,6.283333333,pose2_to_pose3_retreat,0.57579563283,-0.00981825536977,1.06002040439,0.546366781077,-0.00114401586288,1.05969210959
+378,6.300000000,pose2_to_pose3_retreat,0.57576264617,-0.00981829330424,1.06002039545,0.546333795187,-0.00114405116037,1.05969210131
+379,6.316666667,pose2_to_pose3_retreat,0.575736787353,-0.00981809706241,1.06002040982,0.546307933129,-0.00114386589026,1.0596921163
+380,6.333333333,pose2_to_pose3_retreat,0.575716853003,-0.00981824550573,1.06002050954,0.546288001018,-0.00114400676956,1.05969221519
+381,6.350000000,pose2_to_pose3_retreat,0.575701853122,-0.00981831168012,1.06002045174,0.546273002145,-0.0011440696015,1.05969215543
+382,6.366666667,pose2_to_pose3_retreat,0.575690092544,-0.00981827778823,1.06002052529,0.546261241209,-0.00114403683843,1.05969223129
+383,6.383333333,pose2_to_pose3_retreat,0.575681363175,-0.00981820875227,1.0600205747,0.54625251114,-0.00114397011641,1.05969228237
+384,6.400000000,pose2_to_pose3_retreat,0.57567578831,-0.0098181846334,1.06002041945,0.546246936357,-0.00114394587245,1.05969212299
+385,6.416666667,pose2_to_pose3_retreat,0.575672294533,-0.00981821115396,1.06002057156,0.546243442208,-0.00114397351796,1.05969227862
+386,6.433333333,pose2_to_pose3_retreat,0.575670475657,-0.00981823351386,1.06002060346,0.546241623405,-0.00114399555611,1.05969231241
+387,6.450000000,pose2_to_pose3_retreat,0.575669689374,-0.0098182572814,1.06002052015,0.546240837664,-0.001144017464,1.05969222974
+388,6.466666667,pose2_to_pose3_retreat,0.575669351589,-0.00981826749188,1.06002048436,0.546240500112,-0.00114402687557,1.05969219423
+389,6.483333333,pose2_to_pose3_retreat,0.575669056486,-0.00981827641218,1.06002045309,0.546240205213,-0.00114403509791,1.0596921632
+390,6.500000000,pose2_to_pose3_retreat,0.575668710026,-0.00981828688486,1.06002041638,0.546239858992,-0.00114404475117,1.05969212677
+391,6.516666667,pose2_to_pose3_retreat,0.575668233038,-0.0098183044627,1.0600204305,0.546239382191,-0.00114406173408,1.05969213992
+392,6.533333333,pose2_to_pose3_retreat,0.57566801273,-0.00981831604285,1.06002050786,0.546239161813,-0.00114407362358,1.05969221533
+393,6.550000000,pose2_to_pose3_retreat,0.575668001227,-0.00981831664747,1.0600205119,0.546239150306,-0.00114407424436,1.05969221927
+394,6.566666667,pose2_to_pose3_retreat,0.575667839921,-0.00981832512625,1.06002056855,0.546238988949,-0.00114408294964,1.05969227448
+395,6.583333333,pose2_to_pose3_retreat,0.575667687733,-0.00981833312577,1.06002062199,0.546238836713,-0.00114409116286,1.05969232658
+396,6.600000000,pose2_to_pose3_retreat,0.575667555466,-0.00981834007815,1.06002066843,0.546238704405,-0.00114409830097,1.05969237185
+397,6.616666667,pose2_to_pose3_retreat,0.575667419485,-0.00981834722579,1.06002071618,0.54623856838,-0.00114410563955,1.0596924184
+398,6.633333333,pose2_to_pose3_retreat,0.5756674018,-0.00981834815537,1.06002072239,0.54623855069,-0.00114410659396,1.05969242445
+399,6.650000000,pose2_to_pose3_retreat,0.575667375551,-0.00981834953507,1.06002073161,0.546238524433,-0.00114410801052,1.05969243344
+400,6.666666667,pose2_to_pose3_retreat,0.575667371573,-0.0098183497442,1.06002073301,0.546238520453,-0.00114410822524,1.0596924348
+401,6.683333333,pose2_to_pose3_retreat,0.575667305008,-0.00981835324307,1.06002075638,0.546238453867,-0.00114411181758,1.05969245758
+402,6.700000000,pose2_to_pose3_retreat,0.575667194471,-0.00981835567438,1.06002077606,0.546238343348,-0.00114411420945,1.05969247678
+403,6.716666667,pose2_to_pose3_retreat,0.575667015726,-0.00981833400723,1.06002066292,0.546238165023,-0.00114409100385,1.0596923666
+404,6.733333333,pose2_to_pose3_retreat,0.57566688532,-0.0098183181997,1.06002058038,0.546238034924,-0.00114407407393,1.05969228622
+405,6.750000000,pose2_to_pose3_retreat,0.575666792682,-0.00981831196125,1.06002052507,0.54623794258,-0.00114406680087,1.05969223193
+406,6.766666667,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931769,1.05969225353

Obstacle_avoidance/cylinder_15A_10/position_07/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02cbe921501d3ad313d07b82addc737f7bed591bb7ed838f83dcb824ef27c44f
+size 25912215

Obstacle_avoidance/cylinder_15A_10/position_07/depth_02/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,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+1,0.016666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+2,0.033333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+3,0.050000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+4,0.066666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+5,0.083333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+6,0.100000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+7,0.116666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+8,0.133333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+9,0.150000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+10,0.166666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+11,0.183333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+12,0.200000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+13,0.216666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+14,0.233333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+15,0.250000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+16,0.266666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+17,0.283333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+18,0.300000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+19,0.316666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+20,0.333333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+21,0.350000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+22,0.366666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+23,0.383333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+24,0.400000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+25,0.416666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+26,0.433333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+27,0.450000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+28,0.466666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+29,0.483333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+30,0.500000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+31,0.516666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+32,0.533333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+33,0.550000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+34,0.566666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+35,0.583333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+36,0.600000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+37,0.616666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+38,0.633333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+39,0.650000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+40,0.666666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+41,0.683333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+42,0.700000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+43,0.716666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+44,0.733333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+45,0.750000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+46,0.766666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+47,0.783333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+48,0.800000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+49,0.816666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+50,0.833333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+51,0.850000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+52,0.866666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+53,0.883333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+54,0.900000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+55,0.916666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+56,0.933333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+57,0.950000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+58,0.966666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+59,0.983333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+60,1.000000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+61,1.016666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+62,1.033333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+63,1.050000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+64,1.066666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+65,1.083333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+66,1.100000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+67,1.116666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+68,1.133333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+69,1.150000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+70,1.166666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+71,1.183333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+72,1.200000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+73,1.216666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+74,1.233333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+75,1.250000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+76,1.266666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+77,1.283333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+78,1.300000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+79,1.316666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+80,1.333333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+81,1.350000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+82,1.366666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+83,1.383333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+84,1.400000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+85,1.416666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+86,1.433333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+87,1.450000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+88,1.466666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+89,1.483333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+90,1.500000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+91,1.516666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+92,1.533333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+93,1.550000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+94,1.566666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+95,1.583333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+96,1.600000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+97,1.616666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+98,1.633333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+99,1.650000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+100,1.666666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+101,1.683333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+102,1.700000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+103,1.716666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+104,1.733333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+105,1.750000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+106,1.766666667,pose1_to_pose2_press,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+107,1.783333333,pose1_to_pose2_press,0.575666986939,-0.00981831559003,1.0600205165,0.546238135515,-0.00114407473494,1.05969222806
+108,1.800000000,pose1_to_pose2_press,0.575667246111,-0.00981828459557,1.06002056921,0.546238394394,-0.00114404470835,1.05969228146
+109,1.816666667,pose1_to_pose2_press,0.575667445812,-0.00981826071317,1.06002060982,0.54623859387,-0.00114402157173,1.0596923226
+110,1.833333333,pose1_to_pose2_press,0.575667523845,-0.00981826094728,1.06002061547,0.546238671923,-0.00114402177034,1.0596923274
+111,1.850000000,pose1_to_pose2_press,0.575667613816,-0.00981826217112,1.06002062097,0.546238761927,-0.00114402292064,1.0596923318
+112,1.866666667,pose1_to_pose2_press,0.575667687413,-0.00981826317223,1.06002062546,0.546238835552,-0.0011440238616,1.0596923354
+113,1.883333333,pose1_to_pose2_press,0.575667762183,-0.00981826418929,1.06002063003,0.54623891035,-0.00114402481755,1.05969233905
+114,1.900000000,pose1_to_pose2_press,0.575668083174,-0.0098182685556,1.06002064964,0.546239231462,-0.00114402892152,1.05969235475
+115,1.916666667,pose1_to_pose2_press,0.57567037743,-0.009818249881,1.06002066757,0.5462415257,-0.00114401043872,1.05969236928
+116,1.933333333,pose1_to_pose2_press,0.575675899132,-0.00981836079302,1.06002053795,0.546247048004,-0.00114411906722,1.05969224591
+117,1.950000000,pose1_to_pose2_press,0.575688369872,-0.00981828253042,1.06002061507,0.546259518203,-0.00114404261014,1.05969232394
+118,1.966666667,pose1_to_pose2_press,0.575708863353,-0.00981816929359,1.06002036824,0.546280010126,-0.00114393480772,1.0596920732
+119,1.983333333,pose1_to_pose2_press,0.575739216173,-0.00981832994676,1.06002068883,0.546310365029,-0.00114408870374,1.05969238534
+120,2.000000000,pose1_to_pose2_press,0.575779479076,-0.00981813904599,1.06002079438,0.546350625484,-0.00114390601174,1.05969249338
+121,2.016666667,pose1_to_pose2_press,0.575830191798,-0.00981817174927,1.06002069822,0.546401337831,-0.00114394010192,1.05969239414
+122,2.033333333,pose1_to_pose2_press,0.575889455259,-0.009818338107,1.06002069825,0.546460603584,-0.00114409865874,1.05969239467
+123,2.050000000,pose1_to_pose2_press,0.575957104087,-0.00981831017128,1.0600206363,0.546528252647,-0.00114406968817,1.05969233893
+124,2.066666667,pose1_to_pose2_press,0.576034587303,-0.00981822996064,1.06002052484,0.546605734915,-0.00114399259078,1.05969223016
+125,2.083333333,pose1_to_pose2_press,0.57612182995,-0.00981825682741,1.06002052333,0.546692977827,-0.00114401853519,1.05969222921
+126,2.100000000,pose1_to_pose2_press,0.57622061633,-0.00981826403706,1.06002052457,0.546791764776,-0.00114402381658,1.05969223037
+127,2.116666667,pose1_to_pose2_press,0.57633248694,-0.00981827425673,1.06002063588,0.546903635663,-0.00114403335296,1.05969233493
+128,2.133333333,pose1_to_pose2_press,0.576458756361,-0.00981827269676,1.0600207331,0.547029904158,-0.00114403496674,1.05969243123
+129,2.150000000,pose1_to_pose2_press,0.576599976944,-0.00981825531402,1.0600205324,0.547171124241,-0.00114401914727,1.05969223399
+130,2.166666667,pose1_to_pose2_press,0.576756177337,-0.00981815724002,1.06002055307,0.547327323967,-0.00114392337204,1.05969225369
+131,2.183333333,pose1_to_pose2_press,0.576929284717,-0.0098182174011,1.06002053536,0.547500432341,-0.00114398001248,1.05969223978
+132,2.200000000,pose1_to_pose2_press,0.577119705903,-0.00981827730273,1.0600205302,0.5476908531,-0.00114404131362,1.05969223588
+133,2.216666667,pose1_to_pose2_press,0.577330225589,-0.00981823142462,1.06002045299,0.547901371892,-0.0011439986604,1.05969215351
+134,2.233333333,pose1_to_pose2_press,0.577559680527,-0.00981820639007,1.06002060184,0.548130828285,-0.00114396860967,1.0596923045
+135,2.250000000,pose1_to_pose2_press,0.577807410115,-0.00981831309293,1.06002049609,0.54837855932,-0.00114407031923,1.05969220091
+136,2.266666667,pose1_to_pose2_press,0.578074238985,-0.00981825881123,1.06002045659,0.548645387736,-0.00114401741026,1.05969216574
+137,2.283333333,pose1_to_pose2_press,0.578357687085,-0.00981816271721,1.06002051748,0.548928834375,-0.00114392634573,1.05969222465
+138,2.300000000,pose1_to_pose2_press,0.578656171544,-0.00981819077378,1.06002058802,0.54922731904,-0.00114395388913,1.05969229033
+139,2.316666667,pose1_to_pose2_press,0.578970588706,-0.00981825150242,1.06002065036,0.549541737721,-0.00114400937321,1.05969235497
+140,2.333333333,pose1_to_pose2_press,0.579302865281,-0.00981821822049,1.06002059161,0.549874013506,-0.00114397851745,1.05969230286
+141,2.350000000,pose1_to_pose2_press,0.579654286183,-0.00981819541874,1.06002034673,0.55022543428,-0.00114395577958,1.05969206774
+142,2.366666667,pose1_to_pose2_press,0.580026613897,-0.00981823718139,1.06002040642,0.550597761417,-0.00114400009385,1.05969211174
+143,2.383333333,pose1_to_pose2_press,0.580424693829,-0.00981822900325,1.06002054889,0.550995841518,-0.00114399175619,1.05969224324
+144,2.400000000,pose1_to_pose2_press,0.580847696526,-0.00981832514547,1.06002056969,0.551418844953,-0.00114408534384,1.05969226537
+145,2.416666667,pose1_to_pose2_press,0.581297563752,-0.00981832554825,1.06002053837,0.551868712351,-0.0011440849182,1.05969224041
+146,2.433333333,pose1_to_pose2_press,0.581764958433,-0.00981827646549,1.06002064209,0.552336106725,-0.00114403668545,1.05969234922
+147,2.450000000,pose1_to_pose2_press,0.582246704903,-0.00981816407244,1.06002060924,0.55281785158,-0.00114392979816,1.05969231566
+148,2.466666667,pose1_to_pose2_press,0.582744407354,-0.00981812571083,1.06002043157,0.553315553687,-0.00114389278946,1.059692133
+149,2.483333333,pose1_to_pose2_press,0.583259078019,-0.00981827962414,1.06002045419,0.553830227167,-0.00114403715862,1.05969215544
+150,2.500000000,pose1_to_pose2_press,0.583797042537,-0.00981822402012,1.0600204797,0.554368190374,-0.00114398564184,1.05969219051
+151,2.516666667,pose1_to_pose2_press,0.584359536743,-0.00981817003719,1.06002030635,0.554930681321,-0.00114394295484,1.05969201076
+152,2.533333333,pose1_to_pose2_press,0.584946588282,-0.00981811831945,1.06002053265,0.555517736998,-0.00114387720693,1.0596922369
+153,2.550000000,pose1_to_pose2_press,0.585542476368,-0.0098183146314,1.06002041116,0.556113624375,-0.00114407579938,1.05969211859
+154,2.566666667,pose1_to_pose2_press,0.586141472976,-0.00981836158409,1.06002053474,0.556712621709,-0.00114412070369,1.05969223129
+155,2.583333333,pose1_to_pose2_press,0.586747737983,-0.00981827901728,1.06002053494,0.557318885833,-0.0011440408814,1.05969223809
+156,2.600000000,pose1_to_pose2_press,0.587365288246,-0.0098181909788,1.06002073021,0.557936435449,-0.00114395513987,1.05969243069
+157,2.616666667,pose1_to_pose2_press,0.588000861629,-0.00981816040013,1.0600207227,0.558572009328,-0.00114392287598,1.05969242326
+158,2.633333333,pose1_to_pose2_press,0.588661542578,-0.00981817855647,1.06002048487,0.559232690836,-0.00114393874321,1.05969219577
+159,2.650000000,pose1_to_pose2_press,0.589349623645,-0.00981823562948,1.0600207343,0.559920771743,-0.00114399664385,1.0596924377
+160,2.666666667,pose1_to_pose2_press,0.590054532755,-0.00981835181618,1.0600205087,0.560625681775,-0.00114410959665,1.05969221491
+161,2.683333333,pose1_to_pose2_press,0.590772892986,-0.00981822678228,1.06002041842,0.56134403952,-0.00114399295864,1.0596921257
+162,2.700000000,pose1_to_pose2_press,0.591490929149,-0.00981818414933,1.06002066272,0.562062076541,-0.00114394766849,1.05969236327
+163,2.716666667,pose1_to_pose2_press,0.592204219934,-0.00981817035821,1.06002066245,0.562775366389,-0.00114393694066,1.0596923661
+164,2.733333333,pose1_to_pose2_press,0.592907779128,-0.00981836388299,1.06002047626,0.563478927976,-0.00114412226338,1.05969218208
+165,2.750000000,pose1_to_pose2_press,0.593612470554,-0.00981826530964,1.06002056727,0.564183619038,-0.00114402502499,1.05969227052
+166,2.766666667,pose1_to_pose2_press,0.594324997959,-0.00981826022128,1.06002061382,0.564896146825,-0.00114401870358,1.0596923155
+167,2.783333333,pose1_to_pose2_press,0.59505725261,-0.00981831661286,1.06002053913,0.565628402064,-0.00114407301878,1.05969224302
+168,2.800000000,pose1_to_pose2_press,0.595812202753,-0.00981825059066,1.06002052728,0.566383351007,-0.00114401095064,1.05969223419
+169,2.816666667,pose1_to_pose2_press,0.596592358383,-0.0098183299815,1.06002052484,0.567163506598,-0.00114409046782,1.05969223197
+170,2.833333333,pose1_to_pose2_press,0.597374777003,-0.00981808548526,1.06002055298,0.56794592223,-0.00114385614995,1.05969225914
+171,2.850000000,pose1_to_pose2_press,0.598147272778,-0.00981822718552,1.06002063351,0.568718419947,-0.00114399125446,1.05969233987
+172,2.866666667,pose1_to_pose2_press,0.598889969313,-0.00981824733896,1.06002055408,0.569461117507,-0.00114400812765,1.05969225535
+173,2.883333333,pose1_to_pose2_press,0.599603269879,-0.00981816245673,1.06002041825,0.570174417771,-0.00114392399292,1.05969212686
+174,2.900000000,pose1_to_pose2_press,0.600320255121,-0.00981828954574,1.06002030897,0.570891403431,-0.00114404967102,1.05969201744
+175,2.916666667,pose1_to_pose2_press,0.601044356884,-0.00981830443975,1.06002040467,0.571615505301,-0.00114406413921,1.05969211487
+176,2.933333333,pose1_to_pose2_press,0.601776093539,-0.00981827060341,1.06002057414,0.572347241391,-0.00114403230676,1.05969228206
+177,2.950000000,pose1_to_pose2_press,0.602524271879,-0.00981825640808,1.06002071628,0.573095418922,-0.00114402108055,1.05969241827
+178,2.966666667,pose1_to_pose2_press,0.603285375063,-0.00981824115255,1.0600207501,0.573856522273,-0.00114400539776,1.05969244852
+179,2.983333333,pose1_to_pose2_press,0.604018703015,-0.00981825754173,1.06002058766,0.574589851727,-0.00114401658615,1.05969228893
+180,3.000000000,pose1_to_pose2_press,0.604723979339,-0.00981829853767,1.06002048044,0.575295129146,-0.00114405359951,1.05969218885
+181,3.016666667,pose1_to_pose2_press,0.605397523714,-0.00981826871169,1.06002071056,0.575968672902,-0.00114402597253,1.05969241637
+182,3.033333333,pose1_to_pose2_press,0.606049261164,-0.00981828357427,1.06002025372,0.576620410524,-0.00114403991583,1.05969196854
+183,3.050000000,pose1_to_pose2_press,0.606687264636,-0.00981812087617,1.06002046327,0.577258410881,-0.00114388783644,1.05969217678
+184,3.066666667,pose1_to_pose2_press,0.60732263507,-0.00981808815501,1.06002061979,0.577893780179,-0.00114385931497,1.0596923242
+185,3.083333333,pose1_to_pose2_press,0.607959125404,-0.00981814715167,1.06002064861,0.578530270998,-0.00114391665387,1.05969235346
+186,3.100000000,pose1_to_pose2_press,0.608585998691,-0.00981823788385,1.06002058636,0.579157146927,-0.00114399846869,1.05969229002
+187,3.116666667,pose1_to_pose2_press,0.609197686173,-0.00981825439125,1.06002052135,0.579768835583,-0.00114401089601,1.05969222757
+188,3.133333333,pose1_to_pose2_press,0.609786755853,-0.00981819841199,1.06002046158,0.580357903672,-0.00114396012592,1.0596921729
+189,3.150000000,pose1_to_pose2_press,0.610347725569,-0.00981819152221,1.06002045294,0.580918872567,-0.00114395610757,1.059692162
+190,3.166666667,pose1_to_pose2_press,0.610877272464,-0.00981828988928,1.06002058948,0.581448421223,-0.00114404852506,1.05969229802
+191,3.183333333,pose1_to_pose2_press,0.61138832503,-0.00981833434278,1.06002026903,0.581959473233,-0.00114409471472,1.05969198154
+192,3.200000000,pose1_to_pose2_press,0.611880512852,-0.00981818419915,1.06002046054,0.582451660229,-0.00114394741982,1.05969217187
+193,3.216666667,pose1_to_pose2_press,0.612354817359,-0.00981813566518,1.06002041145,0.582925964355,-0.00114390009291,1.05969212504
+194,3.233333333,pose1_to_pose2_press,0.612816465489,-0.00981811522254,1.06002052058,0.583387612981,-0.00114387812016,1.05969222856
+195,3.250000000,pose1_to_pose2_press,0.613269732873,-0.00981813613472,1.06002056148,0.583840880201,-0.00114389960568,1.05969226475
+196,3.266666667,pose1_to_pose2_press,0.613714804408,-0.00981817339229,1.06002034604,0.584285951131,-0.00114393835812,1.05969205707
+197,3.283333333,pose1_to_pose2_press,0.614150276926,-0.00981818694323,1.0600202469,0.584721425064,-0.00114394640562,1.05969196795
+198,3.300000000,pose1_to_pose2_press,0.61456148294,-0.00981829859509,1.06002038301,0.585132631928,-0.00114405511252,1.05969209632
+199,3.316666667,pose1_to_pose2_press,0.614945390871,-0.00981806330372,1.0600203644,0.585516536981,-0.00114382911064,1.05969208083
+200,3.333333333,pose1_to_pose2_press,0.61529864244,-0.00981812617104,1.06002041,0.585869786366,-0.00114389951006,1.05969211457
+201,3.350000000,pose1_to_pose2_press,0.615625670516,-0.00981832658146,1.06002042203,0.58619681804,-0.0011440874128,1.0596921236
+202,3.366666667,pose1_to_pose2_press,0.615928051058,-0.0098182971088,1.06002040964,0.586499198703,-0.00114405713491,1.05969211398
+203,3.383333333,pose1_to_pose2_press,0.616218643715,-0.00981818835132,1.06002027839,0.586789789782,-0.00114395333747,1.05969198715
+204,3.400000000,pose1_to_pose2_press,0.61649754293,-0.00981817002635,1.06002035394,0.587068688483,-0.00114393649483,1.05969206293
+205,3.416666667,pose1_to_pose2_press,0.616761089371,-0.00981819854707,1.06002073463,0.587332235484,-0.00114396308642,1.05969243634
+206,3.433333333,pose1_to_pose2_press,0.617009249061,-0.00981801129455,1.06002058253,0.587580393365,-0.00114378202941,1.05969227605
+207,3.450000000,pose1_to_pose2_press,0.617240700599,-0.00981812717669,1.06002054138,0.587811846123,-0.0011438932487,1.05969224277
+208,3.466666667,pose1_to_pose2_press,0.617455964287,-0.00981813402128,1.06002052819,0.588027108053,-0.00114390557608,1.05969223386
+209,3.483333333,pose1_to_pose2_press,0.617654757604,-0.00981823149904,1.06002040412,0.5882259048,-0.00114399106647,1.05969211501
+210,3.500000000,pose1_to_pose2_press,0.617836925451,-0.00981823376508,1.06002068078,0.588408073587,-0.00114399009486,1.05969238736
+211,3.516666667,pose1_to_pose2_press,0.61800239274,-0.00981821602558,1.06002060019,0.588573540455,-0.00114397358662,1.05969230612
+212,3.533333333,pose1_to_pose2_press,0.618149458649,-0.00981825423788,1.06002070399,0.588720606771,-0.00114401055177,1.0596924031
+213,3.550000000,pose1_to_pose2_press,0.618279574566,-0.00981822911515,1.06002080143,0.588850723185,-0.00114398362835,1.0596925002
+214,3.566666667,pose1_to_pose2_press,0.618392242545,-0.00981817498857,1.06002053011,0.588963389736,-0.00114393385681,1.05969223712
+215,3.583333333,pose1_to_pose2_press,0.618490633024,-0.0098181659559,1.06002019765,0.589061777757,-0.00114393285131,1.05969190917
+216,3.600000000,pose1_to_pose2_press,0.618575570611,-0.00981815228631,1.06002039735,0.589146715371,-0.00114391922748,1.0596921037
+217,3.616666667,pose1_to_pose2_press,0.618649291776,-0.00981820953793,1.06002026853,0.589220438006,-0.00114397078537,1.0596919801
+218,3.633333333,pose1_to_pose2_press,0.618713274765,-0.00981816130088,1.06002056806,0.589284421181,-0.00114392252293,1.0596922722
+219,3.650000000,pose1_to_pose2_press,0.618768630917,-0.00981821538914,1.06002058931,0.589339778685,-0.00114397205313,1.05969229255
+220,3.666666667,pose1_to_pose2_press,0.618816770537,-0.00981826319092,1.06002047014,0.589387918423,-0.00114401933496,1.0596921763
+221,3.683333333,pose1_to_pose2_press,0.618857687535,-0.00981822512927,1.06002039237,0.58942883381,-0.00114398669818,1.05969210076
+222,3.700000000,pose1_to_pose2_press,0.61889128959,-0.00981816457445,1.06002042132,0.589462435209,-0.00114392828067,1.05969212873
+223,3.716666667,pose1_to_pose2_press,0.618917767064,-0.00981826886066,1.06002053882,0.589488916442,-0.00114401995309,1.05969224118
+224,3.733333333,pose1_to_pose2_press,0.618938104067,-0.00981815546025,1.06002054154,0.589509248673,-0.00114392283418,1.05969224431
+225,3.750000000,pose1_to_pose2_press,0.618953619233,-0.00981816168366,1.0600206131,0.589524764542,-0.00114392654746,1.0596923159
+226,3.766666667,pose1_to_pose2_press,0.618965351578,-0.00981818958992,1.06002066658,0.58953649784,-0.00114395119092,1.05969236824
+227,3.783333333,pose1_to_pose2_press,0.618974702112,-0.00981819913852,1.06002067011,0.589545847569,-0.00114396362855,1.05969236933
+228,3.800000000,pose1_to_pose2_press,0.618981590577,-0.0098182320395,1.06002057928,0.589552736661,-0.00114399447388,1.05969227724
+229,3.816666667,pose1_to_pose2_press,0.618986506216,-0.00981828050878,1.06002071786,0.589557652555,-0.0011440422317,1.05969241076
+230,3.833333333,pose1_to_pose2_press,0.618989672425,-0.00981825451628,1.06002073732,0.589560818855,-0.00114401573096,1.0596924343
+231,3.850000000,pose1_to_pose2_press,0.618991406458,-0.0098181414769,1.06002053748,0.589562552926,-0.00114390194527,1.05969224986
+232,3.866666667,pose1_to_pose2_press,0.618992399835,-0.00981810532503,1.06002054578,0.589563546245,-0.00114386599167,1.05969225798
+233,3.883333333,pose1_to_pose2_press,0.618992835565,-0.00981810899014,1.0600206332,0.589563981894,-0.00114387017085,1.05969233919
+234,3.900000000,pose1_to_pose2_press,0.618993086315,-0.0098181110993,1.06002068351,0.589564232597,-0.00114387257585,1.05969238593
+235,3.916666667,pose1_to_pose2_press,0.618993135386,-0.00981811151206,1.06002069336,0.58956428166,-0.0011438730465,1.05969239508
+236,3.933333333,pose1_to_pose2_press,0.61899326187,-0.00981811257597,1.06002071874,0.58956440812,-0.00114387425964,1.05969241866
+237,3.950000000,pose1_to_pose2_press,0.618993409776,-0.00981811382007,1.06002074841,0.589564555999,-0.00114387567824,1.05969244622
+238,3.966666667,pose1_to_pose2_press,0.618993468512,-0.00981811431413,1.0600207602,0.589564614724,-0.00114387624159,1.05969245717
+239,3.983333333,pose1_to_pose2_press,0.618993630789,-0.00981811567911,1.06002079276,0.589564776972,-0.00114387779803,1.05969248742
+240,4.000000000,pose1_to_pose2_press,0.618993804496,-0.00981811714022,1.06002082761,0.589564950645,-0.00114387946408,1.0596925198
+241,4.016666667,pose1_to_pose2_press,0.618993940567,-0.00981810042423,1.06002073818,0.589565086274,-0.0011438640529,1.05969243561
+242,4.033333333,pose1_to_pose2_press,0.618994089732,-0.00981807698715,1.06002060673,0.589565234835,-0.00114384237374,1.05969231196
+243,4.050000000,pose1_to_pose2_press,0.618994203382,-0.00981805913024,1.06002050657,0.589565348024,-0.0011438258562,1.05969221775
+244,4.066666667,pose1_to_pose2_press,0.618994334634,-0.00981814102841,1.06002066077,0.589565479811,-0.0011439062257,1.05969236443
+245,4.083333333,pose1_to_pose2_press,0.618994487669,-0.00981825558686,1.06002092258,0.589565633708,-0.00114401814134,1.05969261882
+246,4.100000000,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.0011440181416,1.05969261882
+247,4.116666667,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.00114401814163,1.05969261882
+248,4.133333333,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.00114401814162,1.05969261882
+249,4.150000000,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.0011440181416,1.05969261882
+250,4.166666667,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.00114401814157,1.05969261882
+251,4.183333333,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.00114401814155,1.05969261882
+252,4.200000000,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.00114401814153,1.05969261882
+253,4.216666667,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.00114401814151,1.05969261882
+254,4.233333333,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.0011440181415,1.05969261882
+255,4.250000000,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.00114401814149,1.05969261882
+256,4.266666667,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.00114401814148,1.05969261882
+257,4.283333333,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.0011440181415,1.05969261882
+258,4.300000000,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.0011440181414,1.05969261882
+259,4.316666667,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.00114401814138,1.05969261882
+260,4.333333333,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.00114401814145,1.05969261882
+261,4.350000000,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.0011440181414,1.05969261882
+262,4.366666667,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.00114401814138,1.05969261882
+263,4.383333333,pose2_hold,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.00114401814136,1.05969261882
+264,4.400000000,pose2_to_pose3_retreat,0.618994487669,-0.00981825558686,1.06002092258,0.589565633709,-0.00114401814128,1.05969261882
+265,4.416666667,pose2_to_pose3_retreat,0.618994524191,-0.00981821705706,1.06002071819,0.589565669794,-0.00114398098314,1.05969241732
+266,4.433333333,pose2_to_pose3_retreat,0.618994549157,-0.00981819071762,1.06002057847,0.589565694462,-0.00114395558138,1.05969227957
+267,4.450000000,pose2_to_pose3_retreat,0.618994556012,-0.00981818348572,1.0600205401,0.589565701235,-0.00114394860693,1.05969224175
+268,4.466666667,pose2_to_pose3_retreat,0.61899456772,-0.0098181711342,1.06002047458,0.589565712802,-0.00114393669512,1.05969217715
+269,4.483333333,pose2_to_pose3_retreat,0.618994508627,-0.00981816232897,1.06002042841,0.589565653574,-0.00114392828383,1.05969213274
+270,4.500000000,pose2_to_pose3_retreat,0.618994067522,-0.00981817505059,1.06002049812,0.589565212393,-0.00114394103717,1.05969220845
+271,4.516666667,pose2_to_pose3_retreat,0.618992685617,-0.009818263186,1.06002059296,0.589563834407,-0.00114401645573,1.05969228797
+272,4.533333333,pose2_to_pose3_retreat,0.618989132215,-0.00981808882002,1.06002066051,0.589560277832,-0.0011438525142,1.05969236538
+273,4.550000000,pose2_to_pose3_retreat,0.618980621193,-0.009818229769,1.06002049475,0.589551766601,-0.00114399416744,1.0596921984
+274,4.566666667,pose2_to_pose3_retreat,0.618965376311,-0.0098183333331,1.0600203188,0.589536524349,-0.00114408874504,1.05969202456
+275,4.583333333,pose2_to_pose3_retreat,0.618941672964,-0.00981824072735,1.06002042858,0.589512819286,-0.00114400202462,1.0596921385
+276,4.600000000,pose2_to_pose3_retreat,0.618909704001,-0.009818327858,1.0600206495,0.589480850739,-0.00114408823894,1.05969234581
+277,4.616666667,pose2_to_pose3_retreat,0.618868431798,-0.00981830017273,1.06002061385,0.589439578168,-0.00114406184633,1.05969231096
+278,4.633333333,pose2_to_pose3_retreat,0.618819452279,-0.00981824497201,1.06002075862,0.589390599672,-0.0011440033778,1.05969245167
+279,4.650000000,pose2_to_pose3_retreat,0.618762577353,-0.00981826879148,1.06002069595,0.589333725735,-0.00114402318098,1.05969239554
+280,4.666666667,pose2_to_pose3_retreat,0.618697643105,-0.00981828884912,1.06002053597,0.589268791412,-0.00114404346786,1.05969224722
+281,4.683333333,pose2_to_pose3_retreat,0.618624380033,-0.00981819690417,1.06002062529,0.589195527697,-0.00114395466479,1.05969233015
+282,4.700000000,pose2_to_pose3_retreat,0.618539753516,-0.00981821883909,1.06002054014,0.589110900232,-0.00114397941104,1.0596922417
+283,4.716666667,pose2_to_pose3_retreat,0.61844429505,-0.00981825654185,1.06002041716,0.58901544107,-0.0011440194467,1.05969212359
+284,4.733333333,pose2_to_pose3_retreat,0.618337010767,-0.00981821705063,1.06002044126,0.588908157213,-0.00114397899594,1.05969213822
+285,4.750000000,pose2_to_pose3_retreat,0.6182164106,-0.00981830067681,1.06002064792,0.588787557981,-0.00114405957614,1.05969234452
+286,4.766666667,pose2_to_pose3_retreat,0.618081281736,-0.00981832721987,1.06002067305,0.588652429362,-0.00114408519465,1.05969237547
+287,4.783333333,pose2_to_pose3_retreat,0.617929901512,-0.00981826700993,1.06002047227,0.588501048711,-0.00114402636525,1.05969218137
+288,4.800000000,pose2_to_pose3_retreat,0.617761220472,-0.0098182591468,1.0600203887,0.588332367314,-0.00114401982351,1.05969210198
+289,4.816666667,pose2_to_pose3_retreat,0.61757183554,-0.00981813225362,1.060020515,0.588142979827,-0.00114390193925,1.05969222329
+290,4.833333333,pose2_to_pose3_retreat,0.617363538164,-0.00981812151447,1.06002066866,0.587934682812,-0.00114389056116,1.05969236745
+291,4.850000000,pose2_to_pose3_retreat,0.617136372874,-0.00981830576407,1.0600207644,0.587707521515,-0.00114406151524,1.0596924632
+292,4.866666667,pose2_to_pose3_retreat,0.616890339699,-0.00981830821434,1.06002061492,0.587461489947,-0.00114405854021,1.05969231982
+293,4.883333333,pose2_to_pose3_retreat,0.616625173864,-0.00981816718738,1.06002045907,0.587196321278,-0.00114392729124,1.05969216641
+294,4.900000000,pose2_to_pose3_retreat,0.616343190785,-0.00981805667554,1.06002054095,0.58691433541,-0.00114382660328,1.05969224616
+295,4.916666667,pose2_to_pose3_retreat,0.616044287286,-0.00981806186758,1.06002069653,0.586615432586,-0.0011438298816,1.05969239993
+296,4.933333333,pose2_to_pose3_retreat,0.615726124104,-0.00981811816289,1.06002039441,0.586297270318,-0.00114388330463,1.05969209922
+297,4.950000000,pose2_to_pose3_retreat,0.615394058451,-0.00981827651865,1.06002016028,0.585965205114,-0.00114404030851,1.0596918705
+298,4.966666667,pose2_to_pose3_retreat,0.615049649053,-0.00981816566649,1.06002043174,0.585620795101,-0.00114393214267,1.05969213657
+299,4.983333333,pose2_to_pose3_retreat,0.614688560366,-0.00981820076804,1.06002059605,0.585259708023,-0.00114396209002,1.05969230116
+300,5.000000000,pose2_to_pose3_retreat,0.614309881909,-0.00981820946781,1.0600205619,0.584881029294,-0.00114397199791,1.05969226741
+301,5.016666667,pose2_to_pose3_retreat,0.613905300835,-0.00981815423113,1.06002044882,0.584476446046,-0.00114392458198,1.05969215077
+302,5.033333333,pose2_to_pose3_retreat,0.613473421062,-0.00981833719722,1.06002056478,0.584044570085,-0.00114409496796,1.05969226409
+303,5.050000000,pose2_to_pose3_retreat,0.613010622867,-0.00981831101115,1.0600206234,0.583581771964,-0.00114406844051,1.05969233257
+304,5.066666667,pose2_to_pose3_retreat,0.612528522893,-0.00981826443218,1.06002055585,0.583099670665,-0.0011440265759,1.05969226149
+305,5.083333333,pose2_to_pose3_retreat,0.612031990705,-0.00981816761808,1.06002068973,0.582603136906,-0.00114393517377,1.05969239346
+306,5.100000000,pose2_to_pose3_retreat,0.611524073344,-0.00981823195926,1.0600206532,0.582095220105,-0.00114399755732,1.05969235842
+307,5.116666667,pose2_to_pose3_retreat,0.611005828617,-0.00981830476878,1.06002055477,0.581576976721,-0.00114406575557,1.05969226139
+308,5.133333333,pose2_to_pose3_retreat,0.610476766117,-0.00981820574148,1.06002062261,0.581047914311,-0.00114396647971,1.05969232769
+309,5.150000000,pose2_to_pose3_retreat,0.609930480501,-0.00981835234662,1.06002042632,0.58050163002,-0.00114410860417,1.059692131
+310,5.166666667,pose2_to_pose3_retreat,0.609362384602,-0.00981818266625,1.06002058911,0.579933532285,-0.00114394500687,1.0596922969
+311,5.183333333,pose2_to_pose3_retreat,0.608782802134,-0.00981813573389,1.06002063108,0.579353950874,-0.00114389441873,1.05969234063
+312,5.200000000,pose2_to_pose3_retreat,0.608192150132,-0.00981813236825,1.06002068224,0.578763299054,-0.00114389045227,1.05969239137
+313,5.216666667,pose2_to_pose3_retreat,0.607570282271,-0.00981815361922,1.0600207278,0.57814143035,-0.00114391462454,1.05969243516
+314,5.233333333,pose2_to_pose3_retreat,0.606920648967,-0.00981825655636,1.06002061224,0.577491798248,-0.00114401350227,1.05969231908
+315,5.250000000,pose2_to_pose3_retreat,0.60624760895,-0.00981841930932,1.06002039218,0.576818760224,-0.00114416934392,1.05969210292
+316,5.266666667,pose2_to_pose3_retreat,0.605554263753,-0.0098182074555,1.06002048706,0.576125411638,-0.00114396901272,1.05969219707
+317,5.283333333,pose2_to_pose3_retreat,0.604845111106,-0.00981816131217,1.0600205069,0.57541626007,-0.00114391914441,1.05969221853
+318,5.300000000,pose2_to_pose3_retreat,0.604145213958,-0.00981807999223,1.06002061457,0.574716360844,-0.00114384515416,1.0596923188
+319,5.316666667,pose2_to_pose3_retreat,0.603451925286,-0.00981818176795,1.06002048159,0.574023072191,-0.00114394683111,1.05969218657
+320,5.333333333,pose2_to_pose3_retreat,0.602754628988,-0.00981828720658,1.06002042548,0.57332577663,-0.00114404970416,1.05969213218
+321,5.350000000,pose2_to_pose3_retreat,0.602047110652,-0.00981816403959,1.06002078272,0.572618256388,-0.00114393332013,1.059692481
+322,5.366666667,pose2_to_pose3_retreat,0.601323752523,-0.00981826939407,1.06002063645,0.57189490052,-0.00114403058365,1.05969234575
+323,5.383333333,pose2_to_pose3_retreat,0.600579169839,-0.00981836052111,1.0600205833,0.571150318031,-0.0011441215464,1.05969227941
+324,5.400000000,pose2_to_pose3_retreat,0.599813351021,-0.00981831209096,1.06002067415,0.570384499301,-0.0011440729271,1.05969236727
+325,5.416666667,pose2_to_pose3_retreat,0.599050854411,-0.00981822024996,1.06002066807,0.569622002031,-0.00114398302508,1.05969236911
+326,5.433333333,pose2_to_pose3_retreat,0.598294096056,-0.00981824434329,1.06002070692,0.568865243361,-0.00114400807562,1.05969241088
+327,5.450000000,pose2_to_pose3_retreat,0.597546054394,-0.00981822423804,1.06002072892,0.568117201676,-0.00114398804479,1.05969243285
+328,5.466666667,pose2_to_pose3_retreat,0.596808973145,-0.00981808075278,1.06002059345,0.567380120473,-0.00114384424706,1.05969230147
+329,5.483333333,pose2_to_pose3_retreat,0.596082466755,-0.00981825575086,1.06002040139,0.566653615523,-0.00114401443997,1.05969210723
+330,5.500000000,pose2_to_pose3_retreat,0.595349931893,-0.00981816234675,1.06002052582,0.565921077217,-0.00114393285002,1.0596922282
+331,5.516666667,pose2_to_pose3_retreat,0.594609461145,-0.0098182560039,1.06002062621,0.565180608284,-0.00114402029984,1.05969232986
+332,5.533333333,pose2_to_pose3_retreat,0.593850850514,-0.0098181672087,1.06002045935,0.564421996516,-0.00114393540622,1.05969216179
+333,5.550000000,pose2_to_pose3_retreat,0.593086950666,-0.00981816841659,1.06002042871,0.563658097771,-0.00114393293424,1.05969212938
+334,5.566666667,pose2_to_pose3_retreat,0.592337143354,-0.00981825232745,1.06002045023,0.562908292569,-0.00114400954104,1.05969215483
+335,5.583333333,pose2_to_pose3_retreat,0.591610330483,-0.00981818576846,1.06002031045,0.562181477601,-0.00114394981428,1.05969202241
+336,5.600000000,pose2_to_pose3_retreat,0.590912453794,-0.0098181276661,1.06002050941,0.561483599216,-0.00114389753411,1.0596922196
+337,5.616666667,pose2_to_pose3_retreat,0.590241018894,-0.00981814016123,1.06002051674,0.560812164305,-0.00114391017352,1.05969222404
+338,5.633333333,pose2_to_pose3_retreat,0.589585407551,-0.00981816867121,1.06002051413,0.560156553778,-0.00114393584624,1.05969222323
+339,5.650000000,pose2_to_pose3_retreat,0.588929724719,-0.00981817918157,1.06002064187,0.559500871161,-0.00114394566871,1.05969234982
+340,5.666666667,pose2_to_pose3_retreat,0.588264557092,-0.00981817327435,1.06002055037,0.558835702725,-0.00114394256368,1.05969225673
+341,5.683333333,pose2_to_pose3_retreat,0.587583761614,-0.00981813742697,1.06002024313,0.558154906114,-0.00114391048985,1.0596919513
+342,5.700000000,pose2_to_pose3_retreat,0.586916204832,-0.00981807505207,1.06002049935,0.557487350091,-0.00114384543885,1.05969221027
+343,5.716666667,pose2_to_pose3_retreat,0.586268807016,-0.00981823835775,1.06002049714,0.556839956398,-0.00114399473082,1.05969220873
+344,5.733333333,pose2_to_pose3_retreat,0.585656249374,-0.00981818852298,1.06002065968,0.556227397431,-0.00114394982569,1.05969235971
+345,5.750000000,pose2_to_pose3_retreat,0.585078557013,-0.0098182310789,1.06002057324,0.555649706441,-0.00114398758283,1.0596922772
+346,5.766666667,pose2_to_pose3_retreat,0.584534004566,-0.00981826025803,1.06002052948,0.5551051537,-0.00114401765022,1.05969223633
+347,5.783333333,pose2_to_pose3_retreat,0.58400263609,-0.00981821258629,1.0600204747,0.554573783831,-0.00114397456201,1.05969218535
+348,5.800000000,pose2_to_pose3_retreat,0.583475401013,-0.00981812040777,1.06002038293,0.554046548233,-0.00114388398757,1.05969209786
+349,5.816666667,pose2_to_pose3_retreat,0.582946533353,-0.00981827630597,1.06002055487,0.553517683688,-0.00114402991951,1.05969225386
+350,5.833333333,pose2_to_pose3_retreat,0.582421793251,-0.00981828588296,1.0600207007,0.552992941022,-0.00114404855183,1.05969239032
+351,5.850000000,pose2_to_pose3_retreat,0.581917111129,-0.00981827963046,1.06002058764,0.55248825954,-0.0011440397503,1.05969228721
+352,5.866666667,pose2_to_pose3_retreat,0.581438328516,-0.00981813515792,1.06002061185,0.552009474924,-0.00114390184193,1.05969231761
+353,5.883333333,pose2_to_pose3_retreat,0.58099117231,-0.00981805135205,1.06002074083,0.551562317583,-0.00114382216765,1.05969243912
+354,5.900000000,pose2_to_pose3_retreat,0.58056703735,-0.00981815233883,1.06002072702,0.551138183778,-0.00114391936168,1.05969242202
+355,5.916666667,pose2_to_pose3_retreat,0.580162194414,-0.00981833798103,1.0600205612,0.550733342975,-0.00114409744846,1.05969226458
+356,5.933333333,pose2_to_pose3_retreat,0.579776614079,-0.00981829140614,1.0600206708,0.550347763308,-0.00114404886431,1.05969236747
+357,5.950000000,pose2_to_pose3_retreat,0.579410648957,-0.00981830306005,1.06002054783,0.549981796454,-0.00114406615975,1.05969225069
+358,5.966666667,pose2_to_pose3_retreat,0.579068749607,-0.0098183418328,1.06002070525,0.549639897937,-0.00114410198996,1.05969241112
+359,5.983333333,pose2_to_pose3_retreat,0.578751718821,-0.00981835636477,1.06002062008,0.54932286824,-0.00114411274007,1.05969232828
+360,6.000000000,pose2_to_pose3_retreat,0.578460702108,-0.00981827642863,1.06002047865,0.549031850028,-0.00114403792779,1.0596921859
+361,6.016666667,pose2_to_pose3_retreat,0.578185748395,-0.00981814005621,1.0600204638,0.548756893312,-0.00114391187402,1.0596921676
+362,6.033333333,pose2_to_pose3_retreat,0.577925235768,-0.00981810839593,1.06002065096,0.548496381559,-0.0011438772743,1.05969235404
+363,6.050000000,pose2_to_pose3_retreat,0.57767681663,-0.00981821160426,1.06002063895,0.548247964988,-0.00114397160717,1.05969234644
+364,6.066666667,pose2_to_pose3_retreat,0.577441228312,-0.00981830541471,1.06002048798,0.548012376771,-0.00114406527325,1.05969219043
+365,6.083333333,pose2_to_pose3_retreat,0.577221841379,-0.00981830878566,1.06002034382,0.547792990213,-0.00114406733712,1.05969204726
+366,6.100000000,pose2_to_pose3_retreat,0.577019130537,-0.00981829186364,1.06002046359,0.547590279512,-0.00114404988967,1.05969216827
+367,6.116666667,pose2_to_pose3_retreat,0.576833856975,-0.00981830411286,1.06002061369,0.547405006027,-0.00114406196089,1.05969231617
+368,6.133333333,pose2_to_pose3_retreat,0.576667094578,-0.00981831988557,1.06002058887,0.547238243866,-0.00114407711334,1.05969228661
+369,6.150000000,pose2_to_pose3_retreat,0.57651749477,-0.0098182992075,1.06002067143,0.547088643416,-0.00114405884062,1.05969236315
+370,6.166666667,pose2_to_pose3_retreat,0.576384656077,-0.00981827132788,1.06002030701,0.546955805336,-0.00114402847333,1.05969200952
+371,6.183333333,pose2_to_pose3_retreat,0.576267618445,-0.00981821880757,1.06002058575,0.546838766161,-0.00114398099326,1.05969229354
+372,6.200000000,pose2_to_pose3_retreat,0.576166673672,-0.00981822069685,1.06002056253,0.546737821045,-0.00114398410515,1.05969226871
+373,6.216666667,pose2_to_pose3_retreat,0.576078342055,-0.00981823823497,1.06002054146,0.546649489504,-0.00114400151125,1.05969224471
+374,6.233333333,pose2_to_pose3_retreat,0.576001908133,-0.00981823131188,1.06002054354,0.546573055177,-0.00114399598819,1.05969224639
+375,6.250000000,pose2_to_pose3_retreat,0.575935454084,-0.00981820506537,1.06002053408,0.546506600553,-0.00114397162831,1.05969223853
+376,6.266666667,pose2_to_pose3_retreat,0.575877866531,-0.00981822004354,1.06002051591,0.546449013869,-0.00114398367596,1.05969221973
+377,6.283333333,pose2_to_pose3_retreat,0.575829194046,-0.0098183056959,1.06002027868,0.546400342109,-0.00114406669322,1.05969198714
+378,6.300000000,pose2_to_pose3_retreat,0.575788670126,-0.00981825997937,1.06002049809,0.54635981839,-0.00114402056522,1.05969219944
+379,6.316666667,pose2_to_pose3_retreat,0.575756674378,-0.0098181102229,1.06002037498,0.546327818409,-0.00114388504358,1.05969207958
+380,6.333333333,pose2_to_pose3_retreat,0.575731695499,-0.00981806404676,1.06002049677,0.54630283913,-0.00114384036468,1.05969219772
+381,6.350000000,pose2_to_pose3_retreat,0.575713086199,-0.00981815045926,1.06002068028,0.546284232312,-0.00114391849029,1.05969237766
+382,6.366666667,pose2_to_pose3_retreat,0.575699625397,-0.00981830501605,1.06002066091,0.546270773687,-0.00114406548613,1.0596923629
+383,6.383333333,pose2_to_pose3_retreat,0.575690091,-0.00981828284172,1.06002059326,0.54626123924,-0.00114404358608,1.05969229254
+384,6.400000000,pose2_to_pose3_retreat,0.575683180721,-0.00981824509139,1.06002056905,0.546254328433,-0.00114400773038,1.05969226568
+385,6.416666667,pose2_to_pose3_retreat,0.575678130693,-0.00981819551984,1.06002057828,0.546249277506,-0.00114396130339,1.05969227232
+386,6.433333333,pose2_to_pose3_retreat,0.57567475664,-0.00981822705592,1.06002061111,0.546245904509,-0.0011439890602,1.05969231044
+387,6.450000000,pose2_to_pose3_retreat,0.575672160689,-0.00981827194405,1.06002064487,0.546243309898,-0.00114402916487,1.05969235051
+388,6.466666667,pose2_to_pose3_retreat,0.5756704465,-0.00981835077831,1.0600206706,0.546241596136,-0.00114410673304,1.05969237134
+389,6.483333333,pose2_to_pose3_retreat,0.575669705514,-0.00981839237468,1.06002068225,0.546240855265,-0.00114414807141,1.05969237948
+390,6.500000000,pose2_to_pose3_retreat,0.575669470685,-0.00981840555717,1.06002068594,0.546240620472,-0.00114416117212,1.05969238206
+391,6.516666667,pose2_to_pose3_retreat,0.575669464131,-0.00981840592508,1.06002068604,0.546240613919,-0.00114416153775,1.05969238213
+392,6.533333333,pose2_to_pose3_retreat,0.575669279969,-0.00981841626331,1.06002068894,0.546240429785,-0.00114417181186,1.05969238416
+393,6.550000000,pose2_to_pose3_retreat,0.575669017684,-0.00981843098705,1.06002069306,0.546240167541,-0.00114418644427,1.05969238704
+394,6.566666667,pose2_to_pose3_retreat,0.575668974179,-0.00981843342928,1.06002069374,0.546240124043,-0.00114418887135,1.05969238752
+395,6.583333333,pose2_to_pose3_retreat,0.575668877616,-0.00981843885002,1.06002069526,0.546240027494,-0.00114419425847,1.05969238858
+396,6.600000000,pose2_to_pose3_retreat,0.575668756303,-0.00981844566006,1.06002069717,0.546239906201,-0.00114420102627,1.05969238991
+397,6.616666667,pose2_to_pose3_retreat,0.57566853301,-0.00981840775934,1.06002069056,0.546239682473,-0.00114416453386,1.05969238505
+398,6.633333333,pose2_to_pose3_retreat,0.575668117379,-0.00981832625001,1.06002067607,0.546239265932,-0.0011440859689,1.05969237441
+399,6.650000000,pose2_to_pose3_retreat,0.575667807519,-0.00981826548328,1.06002066527,0.546238955393,-0.00114402739726,1.05969236647
+400,6.666666667,pose2_to_pose3_retreat,0.575667603528,-0.00981822547859,1.06002065815,0.546238750956,-0.00114398883767,1.05969236125
+401,6.683333333,pose2_to_pose3_retreat,0.575667389763,-0.00981818355701,1.0600206507,0.546238536722,-0.00114394843043,1.05969235578
+402,6.700000000,pose2_to_pose3_retreat,0.575667337179,-0.00981817324484,1.06002064887,0.546238484024,-0.00114393849077,1.05969235443
+403,6.716666667,pose2_to_pose3_retreat,0.575667170207,-0.00981817806111,1.06002062218,0.546238317182,-0.00114394284104,1.05969232844
+404,6.733333333,pose2_to_pose3_retreat,0.57566706354,-0.0098182098602,1.06002058918,0.546238210976,-0.0011439730816,1.05969229523
+405,6.750000000,pose2_to_pose3_retreat,0.575666983708,-0.0098182336594,1.06002056449,0.54623813149,-0.00114399571435,1.05969227038
+406,6.766666667,pose2_to_pose3_retreat,0.575666874619,-0.00981827393154,1.06002053632,0.546238023098,-0.00114403364974,1.05969224149
+407,6.783333333,pose2_to_pose3_retreat,0.575666789591,-0.00981835393324,1.06002054935,0.546237940022,-0.00114410717123,1.05969225074
+408,6.800000000,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931769,1.05969225353

Obstacle_avoidance/cylinder_15A_10/position_07/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed46abd499c1df8c014bf44d15fdba72b57ac4d93ad013d057edc5f3e4a0647c
+size 25981104

Obstacle_avoidance/cylinder_15A_10/position_07/depth_03/simulation_data.csv

@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+1,0.016666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+2,0.033333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+3,0.050000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+4,0.066666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+5,0.083333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+6,0.100000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+7,0.116666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+8,0.133333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+9,0.150000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+10,0.166666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+11,0.183333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+12,0.200000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+13,0.216666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+14,0.233333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+15,0.250000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+16,0.266666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+17,0.283333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+18,0.300000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+19,0.316666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+20,0.333333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+21,0.350000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+22,0.366666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+23,0.383333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+24,0.400000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+25,0.416666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+26,0.433333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+27,0.450000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+28,0.466666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+29,0.483333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+30,0.500000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+31,0.516666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+32,0.533333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+33,0.550000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+34,0.566666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+35,0.583333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+36,0.600000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+37,0.616666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+38,0.633333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+39,0.650000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+40,0.666666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+41,0.683333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+42,0.700000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+43,0.716666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+44,0.733333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+45,0.750000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+46,0.766666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+47,0.783333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+48,0.800000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+49,0.816666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+50,0.833333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+51,0.850000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+52,0.866666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+53,0.883333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+54,0.900000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+55,0.916666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+56,0.933333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+57,0.950000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+58,0.966666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+59,0.983333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+60,1.000000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+61,1.016666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+62,1.033333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+63,1.050000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+64,1.066666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+65,1.083333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+66,1.100000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+67,1.116666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+68,1.133333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+69,1.150000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+70,1.166666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+71,1.183333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+72,1.200000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+73,1.216666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+74,1.233333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+75,1.250000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+76,1.266666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+77,1.283333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+78,1.300000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+79,1.316666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+80,1.333333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+81,1.350000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+82,1.366666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+83,1.383333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+84,1.400000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+85,1.416666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+86,1.433333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+87,1.450000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+88,1.466666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+89,1.483333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+90,1.500000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+91,1.516666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+92,1.533333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+93,1.550000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+94,1.566666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+95,1.583333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+96,1.600000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+97,1.616666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+98,1.633333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+99,1.650000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+100,1.666666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+101,1.683333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+102,1.700000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+103,1.716666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+104,1.733333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+105,1.750000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+106,1.766666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+107,1.783333333,pose1_to_pose2_press,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+108,1.800000000,pose1_to_pose2_press,0.575666961565,-0.00981831698181,1.06002051187,0.54623811016,-0.00114407606947,1.05969222327
+109,1.816666667,pose1_to_pose2_press,0.575667141769,-0.00981827747832,1.06002055426,0.546238290051,-0.00114403764882,1.05969226515
+110,1.833333333,pose1_to_pose2_press,0.575667260483,-0.00981825145448,1.06002058218,0.546238408558,-0.00114401233833,1.05969229274
+111,1.850000000,pose1_to_pose2_press,0.575667318966,-0.0098182386341,1.06002059594,0.546238466939,-0.00114399986937,1.05969230633
+112,1.866666667,pose1_to_pose2_press,0.57566748908,-0.00981821185432,1.06002062597,0.54623863685,-0.00114397380983,1.05969233556
+113,1.883333333,pose1_to_pose2_press,0.575667529361,-0.0098182147186,1.06002062433,0.546238677164,-0.0011439765802,1.05969233344
+114,1.900000000,pose1_to_pose2_press,0.57566802791,-0.00981825016912,1.06002060409,0.546239176122,-0.00114401086852,1.05969230725
+115,1.916666667,pose1_to_pose2_press,0.575669625451,-0.00981829364759,1.0600206369,0.546240774376,-0.00114405220882,1.05969233269
+116,1.933333333,pose1_to_pose2_press,0.575674836214,-0.00981814793269,1.0600206938,0.546245983272,-0.00114391246394,1.05969239927
+117,1.950000000,pose1_to_pose2_press,0.575685328318,-0.00981816297394,1.06002041585,0.546256475273,-0.00114392771438,1.05969212472
+118,1.966666667,pose1_to_pose2_press,0.575704705079,-0.0098182062896,1.06002071541,0.546275852151,-0.00114397089738,1.05969241725
+119,1.983333333,pose1_to_pose2_press,0.575733269668,-0.00981828082329,1.06002055236,0.546304417289,-0.00114404346161,1.05969225702
+120,2.000000000,pose1_to_pose2_press,0.575772068514,-0.00981828140475,1.06002047139,0.546343217291,-0.001144039845,1.05969218326
+121,2.016666667,pose1_to_pose2_press,0.57582016695,-0.00981824030995,1.0600204159,0.546391313871,-0.00114400504365,1.05969212771
+122,2.033333333,pose1_to_pose2_press,0.575878062277,-0.00981825256116,1.06002061158,0.546449209525,-0.00114401644686,1.05969231653
+123,2.050000000,pose1_to_pose2_press,0.575944767799,-0.00981825239415,1.06002042454,0.546515914608,-0.00114401792265,1.05969212535
+124,2.066666667,pose1_to_pose2_press,0.576020475177,-0.00981814524256,1.06002042846,0.546591621364,-0.00114391287148,1.05969212939
+125,2.083333333,pose1_to_pose2_press,0.576107034001,-0.00981818017356,1.06002045906,0.54667818135,-0.00114394369042,1.05969216445
+126,2.100000000,pose1_to_pose2_press,0.576204521684,-0.00981822960171,1.0600204693,0.546775669682,-0.00114399082123,1.05969217716
+127,2.116666667,pose1_to_pose2_press,0.576314666149,-0.00981827622607,1.0600204504,0.546885815054,-0.00114403458185,1.05969215273
+128,2.133333333,pose1_to_pose2_press,0.576437867543,-0.00981840227575,1.06002051173,0.547009017552,-0.00114415649166,1.05969222444
+129,2.150000000,pose1_to_pose2_press,0.576575377919,-0.00981821620901,1.06002063578,0.547146525252,-0.00114397987487,1.05969233863
+130,2.166666667,pose1_to_pose2_press,0.576729954755,-0.00981820650642,1.0600204003,0.547301102643,-0.00114396798645,1.05969211111
+131,2.183333333,pose1_to_pose2_press,0.576901947963,-0.00981825990665,1.06002066591,0.547473096278,-0.00114402030364,1.05969236693
+132,2.200000000,pose1_to_pose2_press,0.577093552398,-0.00981820740334,1.06002051925,0.547664699922,-0.00114397016777,1.05969222862
+133,2.216666667,pose1_to_pose2_press,0.577303519299,-0.00981824338439,1.06002070305,0.547874667436,-0.00114400403392,1.05969241322
+134,2.233333333,pose1_to_pose2_press,0.577531786061,-0.00981820012146,1.06002046947,0.548102933345,-0.00114396355829,1.05969218243
+135,2.250000000,pose1_to_pose2_press,0.577777519265,-0.00981824264485,1.0600205707,0.548348666846,-0.00114400536324,1.05969227597
+136,2.266666667,pose1_to_pose2_press,0.578040814018,-0.00981826636419,1.06002065644,0.548611961464,-0.00114402960462,1.05969236001
+137,2.283333333,pose1_to_pose2_press,0.578320233152,-0.00981830003684,1.06002066581,0.548891381273,-0.001144061067,1.0596923672
+138,2.300000000,pose1_to_pose2_press,0.578616541824,-0.00981824476196,1.0600207032,0.549187689494,-0.00114400725586,1.05969240631
+139,2.316666667,pose1_to_pose2_press,0.578934000054,-0.00981813625291,1.0600207215,0.549505145842,-0.00114390496336,1.05969242906
+140,2.333333333,pose1_to_pose2_press,0.579268306403,-0.00981824660771,1.06002068459,0.549839453402,-0.00114401166819,1.05969237993
+141,2.350000000,pose1_to_pose2_press,0.579618361534,-0.00981823211339,1.06002067082,0.550189508027,-0.00114399875079,1.05969236976
+142,2.366666667,pose1_to_pose2_press,0.579989696834,-0.00981819302946,1.06002065799,0.550560844615,-0.00114395513208,1.0596923613
+143,2.383333333,pose1_to_pose2_press,0.580383074605,-0.00981824875698,1.06002062339,0.5509542223,-0.0011440109204,1.05969233269
+144,2.400000000,pose1_to_pose2_press,0.580801355199,-0.00981821840834,1.06002064897,0.551372501775,-0.00114398453078,1.05969235403
+145,2.416666667,pose1_to_pose2_press,0.581244549524,-0.00981822704246,1.06002046903,0.551815695548,-0.00114399484823,1.05969217903
+146,2.433333333,pose1_to_pose2_press,0.581713848011,-0.00981825398908,1.06002045125,0.552284996379,-0.00114401381974,1.05969216188
+147,2.450000000,pose1_to_pose2_press,0.582200840966,-0.00981828764764,1.06002060656,0.552771990384,-0.00114404427824,1.05969230756
+148,2.466666667,pose1_to_pose2_press,0.582703351117,-0.00981825329485,1.06002049476,0.55327449882,-0.00114401587097,1.05969219239
+149,2.483333333,pose1_to_pose2_press,0.583221296306,-0.00981817686098,1.06002029424,0.553792442937,-0.00114394290059,1.05969199637
+150,2.500000000,pose1_to_pose2_press,0.583757157171,-0.00981822169785,1.06002060854,0.554328304765,-0.00114398465449,1.05969230575
+151,2.516666667,pose1_to_pose2_press,0.584319118308,-0.00981828363176,1.06002077888,0.554890266914,-0.0011440431035,1.05969247746
+152,2.533333333,pose1_to_pose2_press,0.584903897395,-0.00981824459063,1.06002061045,0.555475046098,-0.00114400324257,1.05969232197
+153,2.550000000,pose1_to_pose2_press,0.585509183658,-0.00981817949374,1.0600205293,0.556080331781,-0.00114394031051,1.0596922356
+154,2.566666667,pose1_to_pose2_press,0.586121051552,-0.00981821530877,1.06002053617,0.556692198032,-0.00114398184862,1.05969223864
+155,2.583333333,pose1_to_pose2_press,0.586735125374,-0.00981820505194,1.06002037072,0.55730627141,-0.00114397315953,1.05969207153
+156,2.600000000,pose1_to_pose2_press,0.587358577242,-0.00981819451428,1.06002027188,0.557929723797,-0.00114396050232,1.05969198217
+157,2.616666667,pose1_to_pose2_press,0.587995395609,-0.0098182527861,1.0600204025,0.558566542805,-0.00114401669436,1.05969211026
+158,2.633333333,pose1_to_pose2_press,0.588652080929,-0.0098182817982,1.06002058117,0.559223229273,-0.00114404197715,1.05969228454
+159,2.650000000,pose1_to_pose2_press,0.589337511261,-0.00981828645879,1.06002058836,0.559908660956,-0.00114404185951,1.05969229691
+160,2.666666667,pose1_to_pose2_press,0.590055399506,-0.00981834332822,1.06002047402,0.560626548286,-0.00114410180323,1.05969218333
+161,2.683333333,pose1_to_pose2_press,0.590781802573,-0.00981821696948,1.06002041828,0.561352948931,-0.00114398357349,1.05969212999
+162,2.700000000,pose1_to_pose2_press,0.59151253918,-0.00981833828663,1.06002061845,0.562083688714,-0.00114409419297,1.05969232817
+163,2.716666667,pose1_to_pose2_press,0.59223518309,-0.00981811376301,1.06002063567,0.562806328991,-0.00114388205756,1.05969234368
+164,2.733333333,pose1_to_pose2_press,0.592949011825,-0.00981837589223,1.06002043127,0.563520160066,-0.00114413628707,1.05969213829
+165,2.750000000,pose1_to_pose2_press,0.593657524813,-0.00981835099038,1.06002039006,0.564228673325,-0.001144110298,1.05969210156
+166,2.766666667,pose1_to_pose2_press,0.594379177903,-0.00981819460449,1.06002039114,0.564950324927,-0.00114395898366,1.05969210208
+167,2.783333333,pose1_to_pose2_press,0.595122492242,-0.00981818761161,1.06002038885,0.565693640088,-0.00114394920286,1.05969209978
+168,2.800000000,pose1_to_pose2_press,0.595889534221,-0.00981824701613,1.06002043068,0.566460683046,-0.00114400520834,1.05969214367
+169,2.816666667,pose1_to_pose2_press,0.596675918323,-0.00981827678042,1.06002050845,0.567247066837,-0.0011440361834,1.05969221736
+170,2.833333333,pose1_to_pose2_press,0.597474088182,-0.00981831687604,1.06002054333,0.568045236749,-0.00114407640759,1.05969224412
+171,2.850000000,pose1_to_pose2_press,0.598261064023,-0.00981826905516,1.06002051459,0.568832211737,-0.00114403139837,1.05969221772
+172,2.866666667,pose1_to_pose2_press,0.599021130115,-0.00981827869481,1.06002043379,0.569592278418,-0.00114403892545,1.05969213991
+173,2.883333333,pose1_to_pose2_press,0.599766355335,-0.00981826427054,1.06002054622,0.570337501521,-0.00114403186626,1.0596922476
+174,2.900000000,pose1_to_pose2_press,0.600499835086,-0.00981799234309,1.06002052237,0.57107097842,-0.0011437693723,1.05969223023
+175,2.916666667,pose1_to_pose2_press,0.601236117094,-0.00981811937467,1.06002032714,0.571807263007,-0.00114388772802,1.05969203307
+176,2.933333333,pose1_to_pose2_press,0.601982870844,-0.00981821184816,1.06002047859,0.572554018763,-0.00114397348087,1.05969218231
+177,2.950000000,pose1_to_pose2_press,0.602744085755,-0.00981832650799,1.06002045917,0.573315235158,-0.00114408313168,1.05969216225
+178,2.966666667,pose1_to_pose2_press,0.603508503236,-0.00981824028232,1.060020489,0.574079651163,-0.0011440018917,1.05969219279
+179,2.983333333,pose1_to_pose2_press,0.604271378531,-0.00981817766622,1.06002050271,0.574842526544,-0.00114393872079,1.05969221342
+180,3.000000000,pose1_to_pose2_press,0.605002332556,-0.00981828188696,1.0600205042,0.57557348189,-0.00114403844926,1.05969221531
+181,3.016666667,pose1_to_pose2_press,0.605702148036,-0.00981831943019,1.06002058421,0.576273296331,-0.00114407976833,1.05969228882
+182,3.033333333,pose1_to_pose2_press,0.606373265255,-0.00981821597018,1.06002060004,0.57694441155,-0.00114398319015,1.05969230204
+183,3.050000000,pose1_to_pose2_press,0.607027014964,-0.00981817987674,1.06002045283,0.577598161812,-0.00114394518563,1.05969215583
+184,3.066666667,pose1_to_pose2_press,0.607673430493,-0.00981831372098,1.06002065319,0.578244579134,-0.00114407284914,1.05969235882
+185,3.083333333,pose1_to_pose2_press,0.608320565737,-0.00981844180764,1.060020523,0.578891715908,-0.00114419567925,1.0596922305
+186,3.100000000,pose1_to_pose2_press,0.608967190912,-0.00981832273838,1.06002054575,0.579538339198,-0.00114408326879,1.05969224631
+187,3.116666667,pose1_to_pose2_press,0.609602885758,-0.00981829382585,1.0600204402,0.580174033156,-0.00114405718214,1.05969214573
+188,3.133333333,pose1_to_pose2_press,0.610218188857,-0.00981818881195,1.06002049438,0.580789335313,-0.00114395537999,1.05969219965
+189,3.150000000,pose1_to_pose2_press,0.610801238165,-0.00981817966248,1.06002069015,0.581372386095,-0.00114394138338,1.05969239138
+190,3.166666667,pose1_to_pose2_press,0.611357562995,-0.00981825427378,1.06002066326,0.581928711965,-0.00114401223399,1.05969237073
+191,3.183333333,pose1_to_pose2_press,0.611887881812,-0.00981827385959,1.06002043864,0.582459029653,-0.00114403529196,1.05969215568
+192,3.200000000,pose1_to_pose2_press,0.612398719925,-0.00981819477007,1.06002041084,0.582969866776,-0.0011439597656,1.05969212237
+193,3.216666667,pose1_to_pose2_press,0.612891348715,-0.00981817812941,1.06002065001,0.58346249646,-0.00114394028945,1.05969235507
+194,3.233333333,pose1_to_pose2_press,0.613372846623,-0.00981835029885,1.06002066571,0.583943996581,-0.00114410482653,1.05969236617
+195,3.250000000,pose1_to_pose2_press,0.613845129697,-0.00981823682511,1.06002064547,0.584416278416,-0.00114399508124,1.05969235221
+196,3.266666667,pose1_to_pose2_press,0.614308674123,-0.0098182249199,1.06002055402,0.584879822346,-0.00114398445645,1.05969226213
+197,3.283333333,pose1_to_pose2_press,0.614760196434,-0.00981824830922,1.06002059982,0.585331345286,-0.00114400547649,1.05969230266
+198,3.300000000,pose1_to_pose2_press,0.615195926772,-0.00981820480259,1.06002065068,0.585767075168,-0.00114396298967,1.05969235601
+199,3.316666667,pose1_to_pose2_press,0.615601753519,-0.00981817400389,1.06002069392,0.586172900832,-0.00114393534335,1.05969240168
+200,3.333333333,pose1_to_pose2_press,0.615977864934,-0.00981822284583,1.06002071301,0.586549011815,-0.00114398549386,1.05969241534
+201,3.350000000,pose1_to_pose2_press,0.616323314345,-0.00981824896916,1.06002054929,0.586894460439,-0.00114401408835,1.05969225111
+202,3.366666667,pose1_to_pose2_press,0.616647845123,-0.00981806146404,1.06002055228,0.587218989501,-0.00114383209493,1.05969225348
+203,3.383333333,pose1_to_pose2_press,0.616955493037,-0.00981825737562,1.06002073843,0.587526641042,-0.00114401509402,1.05969244187
+204,3.400000000,pose1_to_pose2_press,0.617250168595,-0.00981812111852,1.06002071935,0.58782131352,-0.00114388935658,1.05969241533
+205,3.416666667,pose1_to_pose2_press,0.617530950939,-0.00981810831702,1.06002053133,0.588102095812,-0.00114387636212,1.05969222742
+206,3.433333333,pose1_to_pose2_press,0.617799106555,-0.00981814003112,1.06002054573,0.588370252211,-0.00114390487148,1.05969224869
+207,3.450000000,pose1_to_pose2_press,0.618051988926,-0.00981805412623,1.06002076959,0.588623133399,-0.00114382271861,1.05969247337
+208,3.466666667,pose1_to_pose2_press,0.618284371075,-0.00981809460526,1.0600208073,0.588855516651,-0.00114385926872,1.05969250945
+209,3.483333333,pose1_to_pose2_press,0.618499246203,-0.00981830935595,1.06002064887,0.589070395465,-0.00114406120848,1.0596923533
+210,3.500000000,pose1_to_pose2_press,0.618695754055,-0.00981826974632,1.06002063633,0.589266902126,-0.00114402550854,1.05969233863
+211,3.516666667,pose1_to_pose2_press,0.618871043404,-0.00981820216987,1.06002052951,0.589442189311,-0.00114396499654,1.05969223479
+212,3.533333333,pose1_to_pose2_press,0.619026910063,-0.00981815144789,1.06002054852,0.58959805471,-0.00114391858492,1.05969224857
+213,3.550000000,pose1_to_pose2_press,0.61916457143,-0.00981820144438,1.06002051917,0.589735719145,-0.00114395755136,1.05969222891
+214,3.566666667,pose1_to_pose2_press,0.619286874212,-0.00981819030628,1.06002045407,0.589858020605,-0.00114395119206,1.05969215486
+215,3.583333333,pose1_to_pose2_press,0.619394562236,-0.00981819205845,1.06002051083,0.589965708134,-0.00114395452778,1.05969220948
+216,3.600000000,pose1_to_pose2_press,0.61949054216,-0.00981815534349,1.06002055688,0.590061687303,-0.0011439202109,1.05969225629
+217,3.616666667,pose1_to_pose2_press,0.619575611964,-0.00981812427668,1.06002046126,0.59014675639,-0.00114389134281,1.05969216535
+218,3.633333333,pose1_to_pose2_press,0.619650531499,-0.00981816997788,1.06002033702,0.590221676586,-0.00114393445934,1.05969204914
+219,3.650000000,pose1_to_pose2_press,0.619716392971,-0.00981823868476,1.06002075973,0.590287540005,-0.00114399692423,1.05969246476
+220,3.666666667,pose1_to_pose2_press,0.619773865238,-0.00981812694837,1.06002053934,0.590345008948,-0.00114389629533,1.05969224668
+221,3.683333333,pose1_to_pose2_press,0.619822921951,-0.00981830764539,1.0600203228,0.590394068228,-0.00114406810282,1.05969203123
+222,3.700000000,pose1_to_pose2_press,0.619863310841,-0.00981824061939,1.06002050591,0.590434457169,-0.00114400055469,1.05969221865
+223,3.716666667,pose1_to_pose2_press,0.619896726464,-0.0098181666902,1.06002064971,0.590467873303,-0.00114392522557,1.05969235407
+224,3.733333333,pose1_to_pose2_press,0.619923314511,-0.00981811640901,1.06002054938,0.590494459582,-0.00114388114461,1.05969224954
+225,3.750000000,pose1_to_pose2_press,0.619943666721,-0.00981811438391,1.06002040682,0.590514810522,-0.00114388317887,1.05969211106
+226,3.766666667,pose1_to_pose2_press,0.619959045626,-0.00981817898402,1.06002044383,0.590530191908,-0.00114393914609,1.05969215027
+227,3.783333333,pose1_to_pose2_press,0.619970029639,-0.00981815028613,1.06002061912,0.590541175252,-0.00114391278381,1.05969232773
+228,3.800000000,pose1_to_pose2_press,0.619978003332,-0.00981815625964,1.06002035996,0.590549147954,-0.00114392179115,1.05969207532
+229,3.816666667,pose1_to_pose2_press,0.619983259025,-0.00981812231376,1.06002036716,0.590554402798,-0.00114389078973,1.05969207969
+230,3.833333333,pose1_to_pose2_press,0.619986846471,-0.00981805398439,1.06002061954,0.590557989516,-0.0011438253247,1.05969232147
+231,3.850000000,pose1_to_pose2_press,0.61998904101,-0.00981809015586,1.06002066653,0.590560184878,-0.00114385872756,1.05969236819
+232,3.866666667,pose1_to_pose2_press,0.619990159583,-0.00981812912661,1.0600206622,0.590561304203,-0.00114389509654,1.05969236535
+233,3.883333333,pose1_to_pose2_press,0.61999084767,-0.00981815309937,1.06002065954,0.590561992754,-0.00114391746884,1.0596923636
+234,3.900000000,pose1_to_pose2_press,0.619991486429,-0.00981817154208,1.06002064911,0.590562631798,-0.00114393491532,1.05969235407
+235,3.916666667,pose1_to_pose2_press,0.61999213153,-0.00981817190735,1.06002060047,0.59056327649,-0.00114393661967,1.05969230656
+236,3.933333333,pose1_to_pose2_press,0.619992878003,-0.00981817233003,1.06002054418,0.590564022489,-0.00114393859184,1.05969225157
+237,3.950000000,pose1_to_pose2_press,0.619993513055,-0.00981819338744,1.06002060731,0.590564657751,-0.00114395901834,1.05969231252
+238,3.966666667,pose1_to_pose2_press,0.619993931859,-0.00981823702061,1.06002080851,0.590565077576,-0.00114399943422,1.05969250752
+239,3.983333333,pose1_to_pose2_press,0.619994183229,-0.00981826116179,1.06002091549,0.590565329513,-0.00114402176541,1.05969261164
+240,4.000000000,pose1_to_pose2_press,0.619994214246,-0.00981825558745,1.06002087112,0.59056536041,-0.00114401647332,1.05969257051
+241,4.016666667,pose1_to_pose2_press,0.619994327083,-0.0098182353083,1.06002070971,0.59056547281,-0.00114399722096,1.05969242089
+242,4.033333333,pose1_to_pose2_press,0.619994333,-0.00981823424478,1.06002070124,0.590565478704,-0.00114399621129,1.05969241304
+243,4.050000000,pose1_to_pose2_press,0.619994398036,-0.00981822255649,1.06002060821,0.590565543488,-0.0011439851148,1.0596923268
+244,4.066666667,pose1_to_pose2_press,0.6199944213,-0.00981822256078,1.06002058977,0.590565566627,-0.00114398551118,1.05969230927
+245,4.083333333,pose1_to_pose2_press,0.61999445282,-0.00981823366048,1.06002060413,0.590565597882,-0.00114399762021,1.05969232081
+246,4.100000000,pose1_to_pose2_press,0.619994504923,-0.00981825200841,1.06002062787,0.590565649545,-0.00114401763588,1.05969233989
+247,4.116666667,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649547,-0.00114401763652,1.05969233989
+248,4.133333333,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649547,-0.00114401763655,1.05969233989
+249,4.150000000,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649547,-0.00114401763655,1.05969233989
+250,4.166666667,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.00114401763657,1.05969233989
+251,4.183333333,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.00114401763657,1.05969233989
+252,4.200000000,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.00114401763658,1.05969233989
+253,4.216666667,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.00114401763659,1.05969233989
+254,4.233333333,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.00114401763659,1.05969233989
+255,4.250000000,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.0011440176366,1.05969233989
+256,4.266666667,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.0011440176366,1.05969233989
+257,4.283333333,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.0011440176366,1.05969233989
+258,4.300000000,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.00114401763659,1.05969233989
+259,4.316666667,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.00114401763658,1.05969233989
+260,4.333333333,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.00114401763658,1.05969233989
+261,4.350000000,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.00114401763657,1.05969233989
+262,4.366666667,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.00114401763657,1.05969233989
+263,4.383333333,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.00114401763655,1.05969233989
+264,4.400000000,pose2_hold,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.00114401763656,1.05969233989
+265,4.416666667,pose2_to_pose3_retreat,0.619994504923,-0.00981825200841,1.06002062787,0.590565649548,-0.00114401763649,1.05969233989
+266,4.433333333,pose2_to_pose3_retreat,0.619994504023,-0.00981825294516,1.06002062786,0.590565648674,-0.00114401848689,1.05969233989
+267,4.450000000,pose2_to_pose3_retreat,0.619994496228,-0.00981826106039,1.06002062779,0.590565641099,-0.00114402585405,1.05969233985
+268,4.466666667,pose2_to_pose3_retreat,0.619994490753,-0.00981826675959,1.06002062774,0.590565635779,-0.00114403102789,1.05969233982
+269,4.483333333,pose2_to_pose3_retreat,0.619994394444,-0.00981829910101,1.06002063712,0.590565540742,-0.00114405912838,1.05969234704
+270,4.500000000,pose2_to_pose3_retreat,0.61999415748,-0.00981821366816,1.06002068503,0.590565303401,-0.00114397541126,1.05969238347
+271,4.516666667,pose2_to_pose3_retreat,0.619994035573,-0.00981820291585,1.06002068485,0.590565181381,-0.00114396504154,1.05969238333
+272,4.533333333,pose2_to_pose3_retreat,0.61999285843,-0.00981813625365,1.06002065954,0.590564003284,-0.00114390141304,1.05969236312
+273,4.550000000,pose2_to_pose3_retreat,0.619989349503,-0.00981821527132,1.06002056126,0.590560494503,-0.00114398025096,1.05969225751
+274,4.566666667,pose2_to_pose3_retreat,0.619980489796,-0.00981813481858,1.06002043915,0.590551634471,-0.00114390049588,1.05969214805
+275,4.583333333,pose2_to_pose3_retreat,0.619964875537,-0.00981816364255,1.06002057471,0.590536020756,-0.00114392802524,1.0596922689
+276,4.600000000,pose2_to_pose3_retreat,0.619941013858,-0.00981811445106,1.06002059329,0.590512157977,-0.00114388227168,1.05969229788
+277,4.616666667,pose2_to_pose3_retreat,0.619908537829,-0.00981814760426,1.06002069383,0.590479682743,-0.00114391304077,1.05969239354
+278,4.633333333,pose2_to_pose3_retreat,0.619865878467,-0.00981816855691,1.06002065682,0.590437023929,-0.00114393184844,1.05969236432
+279,4.650000000,pose2_to_pose3_retreat,0.619814372949,-0.00981833993912,1.0600205668,0.59038552018,-0.0011440974726,1.05969226878
+280,4.666666667,pose2_to_pose3_retreat,0.619754188542,-0.00981839977442,1.06002050243,0.590325337145,-0.00114415246082,1.05969220273
+281,4.683333333,pose2_to_pose3_retreat,0.619685395346,-0.00981831911706,1.06002045207,0.590256542165,-0.00114407723698,1.05969215905
+282,4.700000000,pose2_to_pose3_retreat,0.619608083401,-0.00981825522079,1.06002045283,0.590179228801,-0.0011440184415,1.05969215915
+283,4.716666667,pose2_to_pose3_retreat,0.619521775139,-0.00981821901481,1.06002053036,0.590092920895,-0.00114398170549,1.05969223446
+284,4.733333333,pose2_to_pose3_retreat,0.619425835528,-0.00981813410278,1.06002048085,0.589996981053,-0.00114389726506,1.05969219677
+285,4.750000000,pose2_to_pose3_retreat,0.619318049632,-0.00981818328732,1.06002049229,0.589889195094,-0.00114394680894,1.05969220656
+286,4.766666667,pose2_to_pose3_retreat,0.619197505385,-0.00981826036467,1.06002073079,0.589768652264,-0.00114401967378,1.05969243278
+287,4.783333333,pose2_to_pose3_retreat,0.619062177357,-0.00981825310108,1.06002061833,0.589633324728,-0.00114401084424,1.0596923214
+288,4.800000000,pose2_to_pose3_retreat,0.618911632621,-0.0098181810593,1.06002059408,0.589482778966,-0.00114394252582,1.05969229558
+289,4.816666667,pose2_to_pose3_retreat,0.618745837596,-0.00981813774567,1.06002060499,0.589316983054,-0.00114390254373,1.0596923036
+290,4.833333333,pose2_to_pose3_retreat,0.61856208405,-0.00981819401972,1.06002043105,0.589133230623,-0.0011439550473,1.0596921346
+291,4.850000000,pose2_to_pose3_retreat,0.618360552399,-0.00981822195073,1.06002052994,0.588931700049,-0.00114397943855,1.0596922366
+292,4.866666667,pose2_to_pose3_retreat,0.618138741614,-0.00981817526775,1.06002077602,0.588709887063,-0.00114394097969,1.05969247118
+293,4.883333333,pose2_to_pose3_retreat,0.617895503547,-0.00981814327247,1.06002053488,0.588466649182,-0.00114390838487,1.05969223444
+294,4.900000000,pose2_to_pose3_retreat,0.617629359066,-0.0098182775382,1.06002047443,0.588200506803,-0.00114403555715,1.05969218033
+295,4.916666667,pose2_to_pose3_retreat,0.617341497456,-0.00981831598534,1.06002058745,0.587912646403,-0.00114407026104,1.05969229209
+296,4.933333333,pose2_to_pose3_retreat,0.617033930945,-0.00981819803338,1.06002061853,0.587605078612,-0.00114395703374,1.05969232149
+297,4.950000000,pose2_to_pose3_retreat,0.616708239683,-0.00981816833504,1.06002052444,0.587279385895,-0.00114393248396,1.05969223131
+298,4.966666667,pose2_to_pose3_retreat,0.616366390066,-0.0098183649544,1.06002055507,0.586937538046,-0.00114412356579,1.05969226074
+299,4.983333333,pose2_to_pose3_retreat,0.616007803707,-0.00981818446129,1.06002077132,0.586578948929,-0.00114395285664,1.05969247239
+300,5.000000000,pose2_to_pose3_retreat,0.615635767113,-0.00981827498132,1.06002067903,0.586206915222,-0.00114403389009,1.05969238226
+301,5.016666667,pose2_to_pose3_retreat,0.615249996798,-0.00981812317831,1.06002047079,0.585821143755,-0.00114388603208,1.05969218316
+302,5.033333333,pose2_to_pose3_retreat,0.614843194696,-0.00981808207903,1.06002044214,0.585414341037,-0.00114384745271,1.05969215268
+303,5.050000000,pose2_to_pose3_retreat,0.614414456194,-0.00981817359011,1.06002057108,0.584985603338,-0.00114393684309,1.05969227441
+304,5.066666667,pose2_to_pose3_retreat,0.613958464443,-0.00981821058249,1.06002058832,0.584529611938,-0.00114397282412,1.05969229525
+305,5.083333333,pose2_to_pose3_retreat,0.613475438032,-0.00981830840535,1.0600202822,0.584046586064,-0.00114406924106,1.05969198915
+306,5.100000000,pose2_to_pose3_retreat,0.612965590347,-0.0098182396154,1.06002062125,0.583536739038,-0.00114399893054,1.05969232463
+307,5.116666667,pose2_to_pose3_retreat,0.612443277932,-0.00981820444249,1.0600204772,0.58301442503,-0.00114396900989,1.05969218128
+308,5.133333333,pose2_to_pose3_retreat,0.611911530194,-0.00981825207013,1.06002063934,0.582482677432,-0.00114401620509,1.05969234038
+309,5.150000000,pose2_to_pose3_retreat,0.611371487948,-0.00981827471788,1.06002062404,0.581942635332,-0.00114403824985,1.05969232787
+310,5.166666667,pose2_to_pose3_retreat,0.610822215183,-0.00981822252197,1.0600204724,0.581393361965,-0.00114398787613,1.05969218214
+311,5.183333333,pose2_to_pose3_retreat,0.610261444684,-0.0098181404566,1.06002074624,0.580832591247,-0.00114390669294,1.05969245217
+312,5.200000000,pose2_to_pose3_retreat,0.609679834599,-0.00981822963223,1.06002052731,0.58025098214,-0.00114399234718,1.05969223735
+313,5.216666667,pose2_to_pose3_retreat,0.609076922613,-0.00981813489318,1.06002052818,0.579648069341,-0.00114390061655,1.0596922319
+314,5.233333333,pose2_to_pose3_retreat,0.608452105227,-0.00981822945778,1.06002051014,0.579023253353,-0.00114399024996,1.05969221891
+315,5.250000000,pose2_to_pose3_retreat,0.60780341903,-0.00981827056547,1.06002052274,0.57837456761,-0.00114402989123,1.05969222951
+316,5.266666667,pose2_to_pose3_retreat,0.607122867406,-0.00981822352427,1.06002052622,0.577694015465,-0.00114398492941,1.05969222478
+317,5.283333333,pose2_to_pose3_retreat,0.606423138507,-0.00981833337506,1.06002046613,0.576994288469,-0.00114408801722,1.05969217267
+318,5.300000000,pose2_to_pose3_retreat,0.60571200815,-0.00981820391749,1.06002078669,0.576283156295,-0.00114396503654,1.0596924849
+319,5.316666667,pose2_to_pose3_retreat,0.604993664498,-0.0098183380568,1.06002055143,0.575564813138,-0.00114409724975,1.05969225608
+320,5.333333333,pose2_to_pose3_retreat,0.604272086204,-0.00981827296186,1.0600205961,0.574843234872,-0.00114403179279,1.05969230778
+321,5.350000000,pose2_to_pose3_retreat,0.603557914736,-0.00981809727792,1.06002043183,0.5741290596,-0.00114386936715,1.05969213415
+322,5.366666667,pose2_to_pose3_retreat,0.602842101901,-0.00981817257186,1.06002054955,0.573413247399,-0.00114394267256,1.0596922475
+323,5.383333333,pose2_to_pose3_retreat,0.602115405466,-0.00981831845299,1.0600207576,0.572686553857,-0.00114407872917,1.05969245572
+324,5.400000000,pose2_to_pose3_retreat,0.601371114879,-0.00981826184181,1.06002066558,0.571942263242,-0.00114402224202,1.05969236289
+325,5.416666667,pose2_to_pose3_retreat,0.600603871613,-0.00981827241642,1.06002050499,0.57117502038,-0.00114403097074,1.05969221474
+326,5.433333333,pose2_to_pose3_retreat,0.599826186863,-0.00981825606256,1.06002051395,0.570397334319,-0.00114401909183,1.05969222295
+327,5.450000000,pose2_to_pose3_retreat,0.599043346383,-0.00981829201123,1.06002046376,0.569614493595,-0.00114405633209,1.05969216053
+328,5.466666667,pose2_to_pose3_retreat,0.598269464441,-0.00981830337741,1.0600203277,0.568840613623,-0.00114406071173,1.05969203239
+329,5.483333333,pose2_to_pose3_retreat,0.59751282135,-0.00981822231728,1.06002041637,0.568083969132,-0.00114398429379,1.0596921238
+330,5.500000000,pose2_to_pose3_retreat,0.59677637795,-0.00981820071584,1.0600205748,0.567347524835,-0.00114396580623,1.05969228032
+331,5.516666667,pose2_to_pose3_retreat,0.596040831565,-0.00981823253063,1.06002059229,0.566611979285,-0.00114399477596,1.05969229811
+332,5.533333333,pose2_to_pose3_retreat,0.595299726762,-0.00981812594889,1.06002042254,0.565870873124,-0.00114389262832,1.05969213289
+333,5.550000000,pose2_to_pose3_retreat,0.594530025502,-0.00981819185263,1.06002075154,0.565101172999,-0.00114395484041,1.05969245762
+334,5.566666667,pose2_to_pose3_retreat,0.593744017067,-0.00981830531551,1.06002067718,0.564315167375,-0.00114405892612,1.05969237896
+335,5.583333333,pose2_to_pose3_retreat,0.59296603754,-0.00981818706738,1.06002044942,0.563537185154,-0.00114394954625,1.0596921584
+336,5.600000000,pose2_to_pose3_retreat,0.592211820298,-0.00981823056435,1.06002054466,0.562782968413,-0.00114399130153,1.05969225474
+337,5.616666667,pose2_to_pose3_retreat,0.591490477645,-0.00981829901776,1.06002055669,0.562061626351,-0.00114405765205,1.05969226928
+338,5.633333333,pose2_to_pose3_retreat,0.590804491112,-0.00981827073069,1.060020408,0.561375638986,-0.00114403211085,1.05969212259
+339,5.650000000,pose2_to_pose3_retreat,0.590141554376,-0.00981818416996,1.06002031322,0.560712701379,-0.00114394866434,1.05969202354
+340,5.666666667,pose2_to_pose3_retreat,0.589475526943,-0.00981829584712,1.06002064022,0.560046676168,-0.00114405310866,1.05969234249
+341,5.683333333,pose2_to_pose3_retreat,0.588800658819,-0.00981816037455,1.060020644,0.55937180522,-0.00114392705486,1.0596923505
+342,5.700000000,pose2_to_pose3_retreat,0.588115239419,-0.00981822115911,1.06002065185,0.558686387337,-0.00114398275127,1.05969235681
+343,5.716666667,pose2_to_pose3_retreat,0.58743369235,-0.00981822874626,1.0600206613,0.558004840897,-0.00114398834455,1.05969236245
+344,5.733333333,pose2_to_pose3_retreat,0.586759664093,-0.00981818839816,1.06002048732,0.557330811426,-0.00114395207653,1.05969218957
+345,5.750000000,pose2_to_pose3_retreat,0.586124304263,-0.00981816224297,1.06002034722,0.55669545072,-0.0011439286569,1.05969205567
+346,5.766666667,pose2_to_pose3_retreat,0.585523485203,-0.00981815556966,1.06002047062,0.556094632266,-0.00114391975964,1.0596921835
+347,5.783333333,pose2_to_pose3_retreat,0.584949751055,-0.00981829653511,1.06002039823,0.555520900359,-0.00114405329582,1.05969210654
+348,5.800000000,pose2_to_pose3_retreat,0.584397383721,-0.00981837349305,1.06002030205,0.554968531615,-0.00114413516063,1.05969200705
+349,5.816666667,pose2_to_pose3_retreat,0.583863190839,-0.00981827781649,1.0600205307,0.554434338665,-0.0011440398167,1.05969223313
+350,5.833333333,pose2_to_pose3_retreat,0.583326160965,-0.00981817775806,1.0600206778,0.553897307701,-0.00114394358797,1.05969237669
+351,5.850000000,pose2_to_pose3_retreat,0.582789674636,-0.00981817739614,1.06002062925,0.553360820879,-0.00114394487034,1.05969232884
+352,5.866666667,pose2_to_pose3_retreat,0.582269900335,-0.0098182383545,1.06002054232,0.552841047979,-0.00114400096402,1.05969224491
+353,5.883333333,pose2_to_pose3_retreat,0.581771897793,-0.00981822302034,1.06002054443,0.552343045708,-0.00114398488446,1.05969224239
+354,5.900000000,pose2_to_pose3_retreat,0.58130289027,-0.00981818922078,1.06002038589,0.551874037252,-0.00114395374084,1.0596920974
+355,5.916666667,pose2_to_pose3_retreat,0.580859486338,-0.00981824999167,1.06002062622,0.551430634911,-0.00114400939875,1.05969233009
+356,5.933333333,pose2_to_pose3_retreat,0.580439484041,-0.00981812374671,1.06002054992,0.551010631226,-0.00114388767065,1.0596922589
+357,5.950000000,pose2_to_pose3_retreat,0.580038993467,-0.00981816820218,1.06002052759,0.55061014046,-0.00114393286537,1.05969223431
+358,5.966666667,pose2_to_pose3_retreat,0.579657706363,-0.00981822031985,1.06002052737,0.550228853684,-0.00114398387609,1.05969223395
+359,5.983333333,pose2_to_pose3_retreat,0.579299421814,-0.00981817783782,1.06002051088,0.549870568525,-0.00114394334203,1.05969222068
+360,6.000000000,pose2_to_pose3_retreat,0.57896532436,-0.00981815045645,1.06002051131,0.549536469984,-0.00114391970628,1.05969221957
+361,6.016666667,pose2_to_pose3_retreat,0.578657363661,-0.0098183374904,1.06002050439,0.549228512297,-0.00114409652113,1.05969221268
+362,6.033333333,pose2_to_pose3_retreat,0.578368818371,-0.00981818170577,1.06002052576,0.548939966086,-0.00114394393163,1.05969223222
+363,6.050000000,pose2_to_pose3_retreat,0.578097323918,-0.00981821458481,1.06002051489,0.548668471703,-0.00114397647375,1.05969222394
+364,6.066666667,pose2_to_pose3_retreat,0.577838810636,-0.00981819412248,1.06002046238,0.548409957752,-0.00114395828897,1.0596921712
+365,6.083333333,pose2_to_pose3_retreat,0.577593068074,-0.00981818253102,1.06002040468,0.548164214918,-0.00114394768332,1.05969211194
+366,6.100000000,pose2_to_pose3_retreat,0.577362195702,-0.00981835052458,1.06002039464,0.547933344306,-0.00114410961511,1.05969210432
+367,6.116666667,pose2_to_pose3_retreat,0.577147866198,-0.00981819451399,1.06002040748,0.547719012684,-0.00114396096225,1.05969211261
+368,6.133333333,pose2_to_pose3_retreat,0.57695203623,-0.00981815182461,1.06002041974,0.547523181434,-0.00114392271724,1.0596921225
+369,6.150000000,pose2_to_pose3_retreat,0.576773748557,-0.00981818719303,1.06002071463,0.547344894919,-0.00114395415873,1.05969241735
+370,6.166666667,pose2_to_pose3_retreat,0.576612391722,-0.00981822584322,1.06002069583,0.54718353854,-0.00114399130304,1.05969239748
+371,6.183333333,pose2_to_pose3_retreat,0.576468894683,-0.00981818737126,1.0600205543,0.547040041735,-0.00114395169939,1.05969226492
+372,6.200000000,pose2_to_pose3_retreat,0.57634145345,-0.00981823600647,1.06002065503,0.546912601426,-0.00114399750922,1.05969235747
+373,6.216666667,pose2_to_pose3_retreat,0.576229443817,-0.00981829469521,1.06002074949,0.546800592442,-0.00114405438588,1.0596924416
+374,6.233333333,pose2_to_pose3_retreat,0.576131119218,-0.00981824587835,1.06002049966,0.54670226766,-0.00114400565933,1.05969220599
+375,6.250000000,pose2_to_pose3_retreat,0.576046340923,-0.00981839994061,1.06002041906,0.546617491216,-0.00114415355884,1.05969212286
+376,6.266666667,pose2_to_pose3_retreat,0.575972583266,-0.00981830328494,1.06002043136,0.546543731438,-0.00114406419584,1.05969213248
+377,6.283333333,pose2_to_pose3_retreat,0.575909042641,-0.00981828588727,1.06002055418,0.546480192324,-0.00114404200946,1.05969224636
+378,6.300000000,pose2_to_pose3_retreat,0.575855700876,-0.00981830246921,1.06002055958,0.5464268505,-0.00114405860242,1.05969225661
+379,6.316666667,pose2_to_pose3_retreat,0.57581099278,-0.00981835688734,1.06002046915,0.54638214196,-0.00114411423271,1.05969217392
+380,6.333333333,pose2_to_pose3_retreat,0.575774795871,-0.00981833210043,1.06002034207,0.546345944444,-0.00114409126106,1.05969205335
+381,6.350000000,pose2_to_pose3_retreat,0.57574551551,-0.00981818481485,1.0600202716,0.546316663089,-0.00114394719059,1.05969198694
+382,6.366666667,pose2_to_pose3_retreat,0.575722862029,-0.00981809255914,1.06002038914,0.546294009312,-0.00114385617985,1.0596920981
+383,6.383333333,pose2_to_pose3_retreat,0.57570558941,-0.00981817743458,1.06002043124,0.546276736483,-0.00114394213985,1.05969213054
+384,6.400000000,pose2_to_pose3_retreat,0.575692650618,-0.0098183632839,1.06002039812,0.546263800316,-0.00114411883335,1.05969210406
+385,6.416666667,pose2_to_pose3_retreat,0.575683733583,-0.00981838155108,1.06002052359,0.546254884076,-0.00114413445781,1.05969222776
+386,6.433333333,pose2_to_pose3_retreat,0.575677545718,-0.00981832012354,1.06002060589,0.546248695945,-0.00114407405221,1.05969230667
+387,6.450000000,pose2_to_pose3_retreat,0.575673713743,-0.0098183283711,1.06002033306,0.546244864437,-0.00114408039218,1.05969204286
+388,6.466666667,pose2_to_pose3_retreat,0.575671360012,-0.00981830119845,1.06002047056,0.546242509636,-0.00114405700303,1.05969217644
+389,6.483333333,pose2_to_pose3_retreat,0.575670082685,-0.00981827162165,1.06002068552,0.546241231105,-0.001144031759,1.05969238493
+390,6.500000000,pose2_to_pose3_retreat,0.575669353979,-0.0098182547483,1.06002080816,0.546240501712,-0.00114401735746,1.05969250387
+391,6.516666667,pose2_to_pose3_retreat,0.575668904229,-0.00981827077446,1.06002077244,0.546240052379,-0.00114403187666,1.05969247048
+392,6.533333333,pose2_to_pose3_retreat,0.575668617016,-0.00981828187695,1.06002074597,0.546239765461,-0.00114404191724,1.05969244566
+393,6.550000000,pose2_to_pose3_retreat,0.575668393122,-0.0098182905318,1.06002072533,0.546239541796,-0.00114404974428,1.05969242631
+394,6.566666667,pose2_to_pose3_retreat,0.575668175485,-0.00981829894477,1.06002070527,0.546239324382,-0.00114405735258,1.0596924075
+395,6.583333333,pose2_to_pose3_retreat,0.575668087629,-0.00981830234092,1.06002069718,0.546239236616,-0.00114406042391,1.05969239991
+396,6.600000000,pose2_to_pose3_retreat,0.575668059745,-0.00981830341881,1.06002069461,0.546239208761,-0.0011440613987,1.0596923975
+397,6.616666667,pose2_to_pose3_retreat,0.575668019842,-0.00981830496127,1.06002069093,0.5462391689,-0.00114406279363,1.05969239405
+398,6.633333333,pose2_to_pose3_retreat,0.575667931036,-0.00981830839417,1.06002068275,0.546239080184,-0.00114406589819,1.05969238637
+399,6.650000000,pose2_to_pose3_retreat,0.575667684869,-0.00981831791001,1.06002066006,0.546238834269,-0.00114407450387,1.05969236509
+400,6.666666667,pose2_to_pose3_retreat,0.57566764882,-0.0098183193035,1.06002065674,0.546238798258,-0.00114407576408,1.05969236198
+401,6.683333333,pose2_to_pose3_retreat,0.575667487994,-0.00981831515009,1.06002063703,0.54623863742,-0.00114407163583,1.05969234264
+402,6.700000000,pose2_to_pose3_retreat,0.575667343731,-0.00981829209791,1.06002061024,0.546238492817,-0.00114404976128,1.05969231515
+403,6.716666667,pose2_to_pose3_retreat,0.575667205554,-0.00981827001833,1.06002058458,0.546238354315,-0.00114402880964,1.05969228883
+404,6.733333333,pose2_to_pose3_retreat,0.5756671052,-0.00981825398255,1.06002056594,0.546238253725,-0.00114401359305,1.05969226971
+405,6.750000000,pose2_to_pose3_retreat,0.575667054663,-0.00981824590722,1.06002055656,0.54623820307,-0.00114400593026,1.05969226008
+406,6.766666667,pose2_to_pose3_retreat,0.575666869413,-0.00981830615785,1.06002054767,0.546238019042,-0.00114406210293,1.05969224936
+407,6.783333333,pose2_to_pose3_retreat,0.575666771153,-0.0098183731413,1.0600205529,0.546237922077,-0.00114412474425,1.05969225324
+408,6.800000000,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931768,1.05969225353
+409,6.816666667,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931771,1.05969225353

Obstacle_avoidance/cylinder_15A_10/position_07/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8790855f3f92faf885a4e246224e527f61cd2033bf2c26c7d5c9d6e295b4d0c
+size 27440652

Obstacle_avoidance/cylinder_15A_10/position_07/depth_04/simulation_data.csv

@@ -0,0 +1,434 @@
+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,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+1,0.016666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+2,0.033333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+3,0.050000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+4,0.066666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+5,0.083333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+6,0.100000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+7,0.116666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+8,0.133333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+9,0.150000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+10,0.166666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+11,0.183333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+12,0.200000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+13,0.216666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+14,0.233333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+15,0.250000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+16,0.266666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+17,0.283333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+18,0.300000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+19,0.316666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+20,0.333333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+21,0.350000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+22,0.366666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+23,0.383333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+24,0.400000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+25,0.416666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+26,0.433333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+27,0.450000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+28,0.466666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+29,0.483333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+30,0.500000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+31,0.516666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+32,0.533333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+33,0.550000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+34,0.566666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+35,0.583333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+36,0.600000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+37,0.616666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+38,0.633333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+39,0.650000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+40,0.666666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+41,0.683333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+42,0.700000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+43,0.716666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+44,0.733333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+45,0.750000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+46,0.766666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+47,0.783333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+48,0.800000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+49,0.816666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+50,0.833333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+51,0.850000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+52,0.866666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+53,0.883333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+54,0.900000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+55,0.916666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+56,0.933333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+57,0.950000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+58,0.966666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+59,0.983333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+60,1.000000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+61,1.016666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+62,1.033333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+63,1.050000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+64,1.066666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+65,1.083333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+66,1.100000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+67,1.116666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+68,1.133333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+69,1.150000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+70,1.166666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+71,1.183333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+72,1.200000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+73,1.216666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+74,1.233333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+75,1.250000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+76,1.266666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+77,1.283333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+78,1.300000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+79,1.316666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+80,1.333333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+81,1.350000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+82,1.366666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+83,1.383333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+84,1.400000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+85,1.416666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+86,1.433333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+87,1.450000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+88,1.466666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+89,1.483333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+90,1.500000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+91,1.516666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+92,1.533333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+93,1.550000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+94,1.566666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+95,1.583333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+96,1.600000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+97,1.616666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+98,1.633333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+99,1.650000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+100,1.666666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+101,1.683333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+102,1.700000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+103,1.716666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+104,1.733333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+105,1.750000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+106,1.766666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+107,1.783333333,pose1_to_pose2_press,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+108,1.800000000,pose1_to_pose2_press,0.575666874814,-0.00981834288012,1.06002052556,0.546238024367,-0.00114409888025,1.05969223266
+109,1.816666667,pose1_to_pose2_press,0.575666998684,-0.00981830099667,1.06002051864,0.546238147245,-0.00114406019265,1.05969223024
+110,1.833333333,pose1_to_pose2_press,0.575667228968,-0.00981821680174,1.0600205644,0.546238377259,-0.00114397688868,1.05969227668
+111,1.850000000,pose1_to_pose2_press,0.575667248565,-0.00981820963689,1.0600205683,0.546238396832,-0.00114396979965,1.05969228063
+112,1.866666667,pose1_to_pose2_press,0.575667369396,-0.0098181654592,1.06002059231,0.546238517522,-0.00114392608945,1.059692305
+113,1.883333333,pose1_to_pose2_press,0.575667656698,-0.00981815639493,1.06002060676,0.546238804803,-0.00114391716321,1.0596923177
+114,1.900000000,pose1_to_pose2_press,0.575668994035,-0.00981834444982,1.06002055275,0.546240142833,-0.00114410333036,1.05969225138
+115,1.916666667,pose1_to_pose2_press,0.575673055111,-0.00981814946595,1.06002055221,0.54624420322,-0.00114391029576,1.05969226117
+116,1.933333333,pose1_to_pose2_press,0.57568298866,-0.00981827060156,1.06002079268,0.546254137791,-0.00114402841164,1.05969248968
+117,1.950000000,pose1_to_pose2_press,0.575700081366,-0.009818168964,1.06002076666,0.546271227709,-0.00114393619516,1.05969246461
+118,1.966666667,pose1_to_pose2_press,0.575726407647,-0.00981829184203,1.06002076828,0.546297555966,-0.0011440525373,1.05969246171
+119,1.983333333,pose1_to_pose2_press,0.575761655356,-0.0098182595842,1.06002069181,0.546332803281,-0.0011440214116,1.05969239061
+120,2.000000000,pose1_to_pose2_press,0.575806769657,-0.00981820236535,1.06002048834,0.546377916719,-0.00114396672459,1.0596921975
+121,2.016666667,pose1_to_pose2_press,0.57586069293,-0.00981814232379,1.06002026718,0.546431838607,-0.00114391135749,1.05969197689
+122,2.033333333,pose1_to_pose2_press,0.575923784072,-0.0098182927842,1.0600203261,0.546494931759,-0.00114405500162,1.0596920357
+123,2.050000000,pose1_to_pose2_press,0.575996738667,-0.00981822222608,1.06002056582,0.546567887192,-0.00114398156526,1.05969227627
+124,2.066666667,pose1_to_pose2_press,0.57607976232,-0.00981827797312,1.06002072203,0.546650910988,-0.00114403704249,1.05969242674
+125,2.083333333,pose1_to_pose2_press,0.576174404682,-0.00981826725045,1.06002053689,0.546745552414,-0.00114402935066,1.05969224542
+126,2.100000000,pose1_to_pose2_press,0.576280918671,-0.00981823502789,1.06002063496,0.546852066271,-0.00114399757944,1.05969234348
+127,2.116666667,pose1_to_pose2_press,0.57640136904,-0.00981836380256,1.06002066339,0.546972516429,-0.00114412739947,1.05969236312
+128,2.133333333,pose1_to_pose2_press,0.576536489857,-0.00981830395353,1.06002052915,0.547107636772,-0.00114406893696,1.05969223462
+129,2.150000000,pose1_to_pose2_press,0.576688085082,-0.00981820850422,1.06002077065,0.547259232133,-0.00114397330723,1.05969246863
+130,2.166666667,pose1_to_pose2_press,0.576856089956,-0.00981811600189,1.06002079829,0.547427235134,-0.00114388719053,1.05969249537
+131,2.183333333,pose1_to_pose2_press,0.577040379687,-0.00981812047279,1.06002056912,0.54761152524,-0.00114388987713,1.05969227971
+132,2.200000000,pose1_to_pose2_press,0.577244047415,-0.00981830856371,1.06002052713,0.547815195288,-0.00114407024894,1.05969223367
+133,2.216666667,pose1_to_pose2_press,0.577464871451,-0.00981833364562,1.06002060688,0.548036019825,-0.00114409371706,1.05969231112
+134,2.233333333,pose1_to_pose2_press,0.577702094455,-0.00981822981753,1.06002073123,0.548273242302,-0.00114399177925,1.05969243261
+135,2.250000000,pose1_to_pose2_press,0.577959362565,-0.00981826606264,1.06002063357,0.548530511478,-0.00114402440894,1.05969233495
+136,2.266666667,pose1_to_pose2_press,0.578238415644,-0.00981835134283,1.06002044454,0.548809565099,-0.0011441076811,1.05969215034
+137,2.283333333,pose1_to_pose2_press,0.578536012805,-0.00981828207357,1.06002054268,0.549107160424,-0.00114404476764,1.05969224507
+138,2.300000000,pose1_to_pose2_press,0.578851351989,-0.00981830611505,1.0600205522,0.549422500494,-0.00114406589736,1.0596922521
+139,2.316666667,pose1_to_pose2_press,0.579184565545,-0.00981830085349,1.06002051596,0.549755714839,-0.00114405771799,1.05969222208
+140,2.333333333,pose1_to_pose2_press,0.579531581475,-0.00981837158587,1.06002040811,0.550102730626,-0.00114412892221,1.05969211452
+141,2.350000000,pose1_to_pose2_press,0.57989285868,-0.00981821340813,1.06002050054,0.550464006223,-0.00114397613921,1.05969220856
+142,2.366666667,pose1_to_pose2_press,0.580278840748,-0.00981819753812,1.06002068852,0.55084998837,-0.00114395998962,1.0596923968
+143,2.383333333,pose1_to_pose2_press,0.580692394718,-0.00981822268061,1.06002063675,0.551263542604,-0.00114398454693,1.05969233679
+144,2.400000000,pose1_to_pose2_press,0.581136177235,-0.00981814635808,1.06002054129,0.551707324158,-0.00114391139166,1.05969224394
+145,2.416666667,pose1_to_pose2_press,0.581605019438,-0.00981810793539,1.0600205913,0.552176166282,-0.00114387314358,1.05969229637
+146,2.433333333,pose1_to_pose2_press,0.582092103311,-0.00981806814092,1.06002065686,0.552663249246,-0.0011438364583,1.05969236131
+147,2.450000000,pose1_to_pose2_press,0.582591488357,-0.00981805765663,1.0600206532,0.553162633345,-0.00114382917031,1.05969235801
+148,2.466666667,pose1_to_pose2_press,0.58310409818,-0.00981819258162,1.06002060498,0.553675245362,-0.00114395678846,1.05969230618
+149,2.483333333,pose1_to_pose2_press,0.583640511385,-0.00981815211584,1.06002039018,0.55421165808,-0.0011439176878,1.05969209895
+150,2.500000000,pose1_to_pose2_press,0.584203510877,-0.00981841197072,1.06002041291,0.554774659784,-0.00114417002087,1.05969212214
+151,2.516666667,pose1_to_pose2_press,0.58479439605,-0.00981823770864,1.06002076291,0.55536554386,-0.00114399960215,1.05969246888
+152,2.533333333,pose1_to_pose2_press,0.585401828255,-0.00981817612009,1.06002027758,0.555972974847,-0.00114394179961,1.05969199269
+153,2.550000000,pose1_to_pose2_press,0.586016898537,-0.00981823399437,1.06002058664,0.556588045525,-0.00114399864788,1.05969229336
+154,2.566666667,pose1_to_pose2_press,0.586633190477,-0.00981825549733,1.06002066063,0.557204337823,-0.00114401913103,1.05969236218
+155,2.583333333,pose1_to_pose2_press,0.587252457614,-0.00981824384575,1.06002047366,0.557823605507,-0.00114400530977,1.05969218349
+156,2.600000000,pose1_to_pose2_press,0.587892427688,-0.00981815446625,1.06002044276,0.558463575203,-0.00114391718746,1.05969215326
+157,2.616666667,pose1_to_pose2_press,0.588556099126,-0.00981813238086,1.06002062682,0.559127246138,-0.00114389701161,1.05969233193
+158,2.633333333,pose1_to_pose2_press,0.589246516429,-0.00981826877909,1.06002068345,0.55981766415,-0.00114403091949,1.05969239079
+159,2.650000000,pose1_to_pose2_press,0.58995915497,-0.00981832237758,1.06002055908,0.560530303167,-0.00114408274287,1.05969227068
+160,2.666666667,pose1_to_pose2_press,0.590694041546,-0.00981815990526,1.06002069794,0.561265188095,-0.00114392606241,1.05969240428
+161,2.683333333,pose1_to_pose2_press,0.591430969298,-0.00981820480124,1.06002042847,0.562002116248,-0.00114396978001,1.05969213008
+162,2.700000000,pose1_to_pose2_press,0.592168044712,-0.00981815735965,1.0600203711,0.562739191314,-0.00114392298266,1.05969208681
+163,2.716666667,pose1_to_pose2_press,0.592894488442,-0.00981830029588,1.06002051017,0.563465637184,-0.00114405891811,1.05969221909
+164,2.733333333,pose1_to_pose2_press,0.593616725486,-0.00981834320099,1.06002042604,0.564187875825,-0.00114409652821,1.05969213175
+165,2.750000000,pose1_to_pose2_press,0.594347230189,-0.00981823235742,1.0600204645,0.564918377671,-0.00114399516209,1.05969217589
+166,2.766666667,pose1_to_pose2_press,0.595092163338,-0.0098182175807,1.06002056158,0.565663311008,-0.00114398022602,1.0596922604
+167,2.783333333,pose1_to_pose2_press,0.595854719966,-0.00981831099788,1.06002052745,0.566425869085,-0.00114406895209,1.05969222037
+168,2.800000000,pose1_to_pose2_press,0.596648137447,-0.00981832969426,1.06002058095,0.567219286543,-0.00114408741953,1.05969228201
+169,2.816666667,pose1_to_pose2_press,0.597459800833,-0.00981822969627,1.06002077171,0.568030949379,-0.00114398913997,1.05969247668
+170,2.833333333,pose1_to_pose2_press,0.598266706631,-0.00981820258332,1.06002064976,0.568837854576,-0.00114396406395,1.05969235484
+171,2.850000000,pose1_to_pose2_press,0.59905601394,-0.00981823108423,1.06002048166,0.569627160775,-0.00114399640533,1.05969218486
+172,2.866666667,pose1_to_pose2_press,0.599816985259,-0.00981818980187,1.06002062361,0.570388131243,-0.00114395793144,1.05969232892
+173,2.883333333,pose1_to_pose2_press,0.600567116643,-0.00981829309956,1.06002052306,0.571138266324,-0.00114404874276,1.05969222695
+174,2.900000000,pose1_to_pose2_press,0.601313207129,-0.00981824229648,1.06002033029,0.57188435521,-0.00114400354615,1.05969202944
+175,2.916666667,pose1_to_pose2_press,0.602064872544,-0.00981824906582,1.06002038133,0.572636020087,-0.00114401191332,1.05969208656
+176,2.933333333,pose1_to_pose2_press,0.60283062888,-0.00981827817539,1.06002039728,0.573401777522,-0.00114403717345,1.05969210581
+177,2.950000000,pose1_to_pose2_press,0.603615880089,-0.00981817012382,1.0600204685,0.574187028381,-0.00114393023852,1.05969217899
+178,2.966666667,pose1_to_pose2_press,0.604394880232,-0.00981824741706,1.06002046359,0.574966029071,-0.00114400602704,1.05969216483
+179,2.983333333,pose1_to_pose2_press,0.605157984052,-0.00981835328184,1.06002043032,0.575729133287,-0.00114411058242,1.05969213076
+180,3.000000000,pose1_to_pose2_press,0.605884979129,-0.00981829489657,1.0600206136,0.576456128309,-0.00114405234244,1.0596923152
+181,3.016666667,pose1_to_pose2_press,0.606578183001,-0.00981820370467,1.0600207366,0.577149331735,-0.00114396265301,1.05969243844
+182,3.033333333,pose1_to_pose2_press,0.607253739193,-0.00981817711045,1.0600206236,0.577824886991,-0.00114393917261,1.05969232721
+183,3.050000000,pose1_to_pose2_press,0.607920508287,-0.00981816952186,1.060020585,0.57849165569,-0.00114393300643,1.05969228645
+184,3.066666667,pose1_to_pose2_press,0.608585194044,-0.00981823824718,1.06002076132,0.579156343392,-0.00114399507429,1.05969246449
+185,3.083333333,pose1_to_pose2_press,0.609252040458,-0.00981840469498,1.06002053168,0.579823189533,-0.00114416234337,1.05969223769
+186,3.100000000,pose1_to_pose2_press,0.609915478552,-0.00981821850593,1.06002066233,0.580486626543,-0.00114398004133,1.05969236284
+187,3.116666667,pose1_to_pose2_press,0.610552557033,-0.00981835111199,1.0600205662,0.581123706137,-0.00114410887469,1.05969226661
+188,3.133333333,pose1_to_pose2_press,0.611160939122,-0.00981820968312,1.06002042836,0.581732087673,-0.0011439689809,1.0596921379
+189,3.150000000,pose1_to_pose2_press,0.611736652963,-0.009818244168,1.0600203147,0.582307800911,-0.00114400547101,1.05969202535
+190,3.166666667,pose1_to_pose2_press,0.61228874639,-0.00981833666903,1.06002032035,0.582859894477,-0.00114409754598,1.05969203068
+191,3.183333333,pose1_to_pose2_press,0.612818817786,-0.00981829451765,1.06002047246,0.583389966185,-0.00114405431245,1.05969218138
+192,3.200000000,pose1_to_pose2_press,0.613336188335,-0.00981812697168,1.06002065576,0.583907336128,-0.00114388869465,1.0596923607
+193,3.216666667,pose1_to_pose2_press,0.613841053816,-0.00981805804208,1.06002060531,0.584412199786,-0.00114382554605,1.05969231626
+194,3.233333333,pose1_to_pose2_press,0.614334991642,-0.00981818547269,1.06002041518,0.584906140386,-0.00114394319469,1.05969212116
+195,3.250000000,pose1_to_pose2_press,0.614820387333,-0.00981799958722,1.06002073606,0.58539153203,-0.00114377079097,1.05969243707
+196,3.266666667,pose1_to_pose2_press,0.615296036644,-0.00981807746206,1.06002055517,0.585867183098,-0.00114384188687,1.05969226738
+197,3.283333333,pose1_to_pose2_press,0.615752268887,-0.00981826808088,1.06002051748,0.586323416708,-0.00114402769213,1.05969222599
+198,3.300000000,pose1_to_pose2_press,0.616183420073,-0.00981838404377,1.06002061603,0.586754568957,-0.00114413987348,1.05969231815
+199,3.316666667,pose1_to_pose2_press,0.616583585589,-0.00981837260033,1.06002064225,0.587154735411,-0.00114412462727,1.05969234803
+200,3.333333333,pose1_to_pose2_press,0.616954393452,-0.00981828925866,1.06002063923,0.587525542184,-0.00114404444123,1.05969234641
+201,3.350000000,pose1_to_pose2_press,0.617297760045,-0.00981824392044,1.06002066632,0.587868906834,-0.00114400543606,1.05969236821
+202,3.366666667,pose1_to_pose2_press,0.617624402961,-0.00981829541912,1.0600206505,0.58819555052,-0.00114405392783,1.0596923527
+203,3.383333333,pose1_to_pose2_press,0.617939477143,-0.00981818085993,1.06002053085,0.588510624691,-0.00114393913329,1.05969223428
+204,3.400000000,pose1_to_pose2_press,0.618242860786,-0.009818063978,1.06002043243,0.588814005886,-0.00114383018583,1.05969213571
+205,3.416666667,pose1_to_pose2_press,0.618533665486,-0.00981812645744,1.06002052785,0.589104811443,-0.00114388960642,1.05969222908
+206,3.433333333,pose1_to_pose2_press,0.618806925583,-0.00981824950617,1.06002046805,0.589378071781,-0.00114401160323,1.05969216614
+207,3.450000000,pose1_to_pose2_press,0.619061129417,-0.0098183062638,1.06002050226,0.589632277235,-0.00114406254059,1.05969220351
+208,3.466666667,pose1_to_pose2_press,0.619292260553,-0.00981827083556,1.06002067925,0.589863408548,-0.00114402614946,1.05969238291
+209,3.483333333,pose1_to_pose2_press,0.619501655038,-0.0098182740446,1.06002072913,0.590072802277,-0.00114403187804,1.05969242806
+210,3.500000000,pose1_to_pose2_press,0.619688654977,-0.00981822991133,1.06002058789,0.590259800332,-0.00114399408281,1.05969228318
+211,3.516666667,pose1_to_pose2_press,0.61985658345,-0.00981812883663,1.06002047972,0.590427727479,-0.00114389697436,1.05969218236
+212,3.533333333,pose1_to_pose2_press,0.620006513228,-0.0098181617863,1.06002056282,0.590577659791,-0.00114392055054,1.05969228066
+213,3.550000000,pose1_to_pose2_press,0.620141503304,-0.00981816454696,1.06002037247,0.590712648553,-0.00114392780685,1.05969208734
+214,3.566666667,pose1_to_pose2_press,0.620264497386,-0.00981816151583,1.06002072086,0.590835642445,-0.00114392584646,1.05969242092
+215,3.583333333,pose1_to_pose2_press,0.620375982418,-0.00981813178808,1.06002053181,0.59094712715,-0.00114389689206,1.05969223587
+216,3.600000000,pose1_to_pose2_press,0.62047816863,-0.00981824125008,1.06002038919,0.591049313972,-0.00114400394763,1.05969209882
+217,3.616666667,pose1_to_pose2_press,0.620571070956,-0.00981820888517,1.06002052656,0.591142215346,-0.00114397491816,1.05969223104
+218,3.633333333,pose1_to_pose2_press,0.620652057406,-0.00981811580748,1.06002066134,0.591223201068,-0.00114388436648,1.0596923622
+219,3.650000000,pose1_to_pose2_press,0.620721543185,-0.00981826454614,1.06002055029,0.59129268908,-0.00114402503189,1.05969225751
+220,3.666666667,pose1_to_pose2_press,0.620779222528,-0.00981837974434,1.06002039388,0.591350369599,-0.00114413568448,1.05969210229
+221,3.683333333,pose1_to_pose2_press,0.620826795435,-0.00981816726425,1.0600204563,0.591397940268,-0.00114393079114,1.05969216077
+222,3.700000000,pose1_to_pose2_press,0.620864653351,-0.00981806660811,1.06002072799,0.591435798314,-0.00114382957962,1.05969243993
+223,3.716666667,pose1_to_pose2_press,0.620896244392,-0.00981813265639,1.06002067548,0.591467390395,-0.00114389253245,1.05969238172
+224,3.733333333,pose1_to_pose2_press,0.620922061003,-0.00981816082909,1.06002057377,0.591493206837,-0.00114392133104,1.0596922784
+225,3.750000000,pose1_to_pose2_press,0.620942621507,-0.00981821529932,1.06002047658,0.591513766563,-0.00114397853213,1.05969217923
+226,3.766666667,pose1_to_pose2_press,0.620958493681,-0.00981826171117,1.06002041314,0.591529638486,-0.00114402576441,1.05969211705
+227,3.783333333,pose1_to_pose2_press,0.620970056896,-0.00981827447802,1.06002043358,0.591541202315,-0.00114403625819,1.05969214189
+228,3.800000000,pose1_to_pose2_press,0.620978376849,-0.00981831518427,1.06002062276,0.591549523033,-0.00114407453248,1.05969232856
+229,3.816666667,pose1_to_pose2_press,0.620983495746,-0.00981829310653,1.06002064343,0.591554642023,-0.0011440520745,1.05969235
+230,3.833333333,pose1_to_pose2_press,0.620987107759,-0.00981828709462,1.06002056099,0.591558253993,-0.00114404619017,1.05969226819
+231,3.850000000,pose1_to_pose2_press,0.620989395342,-0.00981830673509,1.0600203696,0.591560541437,-0.00114406635462,1.05969207695
+232,3.866666667,pose1_to_pose2_press,0.620990667009,-0.00981830646646,1.06002028971,0.591561812884,-0.00114406686236,1.05969199702
+233,3.883333333,pose1_to_pose2_press,0.620991386013,-0.00981824043246,1.06002040067,0.591562530918,-0.00114400412408,1.05969210715
+234,3.900000000,pose1_to_pose2_press,0.620991934058,-0.00981819009939,1.06002048524,0.591563078225,-0.00114395630311,1.05969219109
+235,3.916666667,pose1_to_pose2_press,0.620992568426,-0.00981813183843,1.06002058314,0.591563711738,-0.00114390094992,1.05969228826
+236,3.933333333,pose1_to_pose2_press,0.620993270657,-0.00981809718342,1.06002065609,0.591564413823,-0.00114386687103,1.05969235918
+237,3.950000000,pose1_to_pose2_press,0.620993580401,-0.0098181034565,1.06002066268,0.591564724081,-0.00114387148882,1.059692364
+238,3.966666667,pose1_to_pose2_press,0.620993667954,-0.00981810522968,1.06002066454,0.59156481178,-0.00114387279411,1.05969236536
+239,3.983333333,pose1_to_pose2_press,0.620993798974,-0.00981810788315,1.06002066733,0.591564943017,-0.0011438747474,1.0596923674
+240,4.000000000,pose1_to_pose2_press,0.620993924346,-0.00981811042225,1.06002066999,0.591565068597,-0.0011438766165,1.05969236935
+241,4.016666667,pose1_to_pose2_press,0.62099404196,-0.00981811280423,1.06002067249,0.591565186407,-0.00114387836995,1.05969237118
+242,4.033333333,pose1_to_pose2_press,0.620994221917,-0.00981811121769,1.0600206834,0.591565366498,-0.00114387642848,1.05969237966
+243,4.050000000,pose1_to_pose2_press,0.620994374301,-0.00981810886258,1.060020694,0.591565518962,-0.00114387389017,1.05969238794
+244,4.066666667,pose1_to_pose2_press,0.620994456165,-0.00981814183401,1.06002068825,0.591565601164,-0.00114390566806,1.05969238337
+245,4.083333333,pose1_to_pose2_press,0.620994453497,-0.0098181548517,1.06002068373,0.591565598607,-0.0011439182739,1.05969237981
+246,4.100000000,pose1_to_pose2_press,0.620994431725,-0.00981818356513,1.06002063337,0.591565576458,-0.00114394789089,1.05969233917
+247,4.116666667,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789227,1.05969233917
+248,4.133333333,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789228,1.05969233917
+249,4.150000000,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789228,1.05969233917
+250,4.166666667,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789228,1.05969233917
+251,4.183333333,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789227,1.05969233917
+252,4.200000000,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789212,1.05969233916
+253,4.216666667,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789225,1.05969233916
+254,4.233333333,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789224,1.05969233916
+255,4.250000000,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789221,1.05969233917
+256,4.266666667,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.0011439478921,1.05969233916
+257,4.283333333,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789209,1.05969233916
+258,4.300000000,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789208,1.05969233916
+259,4.316666667,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789216,1.05969233916
+260,4.333333333,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789216,1.05969233916
+261,4.350000000,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789216,1.05969233916
+262,4.366666667,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.00114394789214,1.05969233916
+263,4.383333333,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.0011439478921,1.05969233916
+264,4.400000000,pose2_hold,0.620994431725,-0.00981818356513,1.06002063337,0.59156557646,-0.0011439478921,1.05969233916
+265,4.416666667,pose2_to_pose3_retreat,0.620994431725,-0.00981818356513,1.06002063337,0.591565576461,-0.00114394789209,1.05969233916
+266,4.433333333,pose2_to_pose3_retreat,0.620994519468,-0.00981808299678,1.06002068561,0.591565662829,-0.00114385236802,1.05969238123
+267,4.450000000,pose2_to_pose3_retreat,0.620994509429,-0.00981805562889,1.0600206948,0.591565652289,-0.00114382687002,1.05969238595
+268,4.466666667,pose2_to_pose3_retreat,0.620994426874,-0.00981808045727,1.06002067289,0.591565569844,-0.00114385134571,1.05969236349
+269,4.483333333,pose2_to_pose3_retreat,0.620994381554,-0.00981809408709,1.06002066086,0.591565524585,-0.00114386478192,1.05969235116
+270,4.500000000,pose2_to_pose3_retreat,0.620994231734,-0.00981813914504,1.06002062109,0.591565374965,-0.00114390919983,1.0596923104
+271,4.516666667,pose2_to_pose3_retreat,0.620994199712,-0.00981814877574,1.06002061259,0.591565342985,-0.00114391869373,1.05969230169
+272,4.533333333,pose2_to_pose3_retreat,0.620994039816,-0.00981817001789,1.06002060518,0.5915651833,-0.00114393922096,1.05969229429
+273,4.550000000,pose2_to_pose3_retreat,0.6209939062,-0.00981817350473,1.0600206176,0.59156504986,-0.00114394209348,1.05969230728
+274,4.566666667,pose2_to_pose3_retreat,0.620993744352,-0.00981817772833,1.06002063264,0.591564888224,-0.00114394557295,1.05969232302
+275,4.583333333,pose2_to_pose3_retreat,0.620993498608,-0.00981818414125,1.06002065548,0.591564642802,-0.00114395085602,1.05969234692
+276,4.600000000,pose2_to_pose3_retreat,0.620993445333,-0.00981818553153,1.06002066044,0.591564589597,-0.00114395200135,1.0596923521
+277,4.616666667,pose2_to_pose3_retreat,0.620993142691,-0.00981819342926,1.06002068857,0.591564287352,-0.00114395850763,1.05969238153
+278,4.633333333,pose2_to_pose3_retreat,0.620992795319,-0.00981821081006,1.0600206937,0.591563940311,-0.00114397470567,1.05969238826
+279,4.650000000,pose2_to_pose3_retreat,0.620992501948,-0.00981822874925,1.0600206874,0.59156364717,-0.00114399180843,1.05969238333
+280,4.666666667,pose2_to_pose3_retreat,0.620992376108,-0.0098182364442,1.06002068469,0.591563521429,-0.0011439991446,1.05969238122
+281,4.683333333,pose2_to_pose3_retreat,0.620992371896,-0.00981823670176,1.0600206846,0.59156351722,-0.00114399939015,1.05969238115
+282,4.700000000,pose2_to_pose3_retreat,0.620992296426,-0.00981824131667,1.06002068298,0.591563441809,-0.00114400378988,1.05969237988
+283,4.716666667,pose2_to_pose3_retreat,0.62099169583,-0.00981827804223,1.06002067006,0.591562841685,-0.00114403880307,1.0596923698
+284,4.733333333,pose2_to_pose3_retreat,0.620986094378,-0.00981809268404,1.0600205203,0.591557238264,-0.00114385981575,1.0596922309
+285,4.750000000,pose2_to_pose3_retreat,0.62095633688,-0.00981827054163,1.06002049794,0.591527482583,-0.00114403200437,1.05969219575
+286,4.766666667,pose2_to_pose3_retreat,0.62090204347,-0.00981819292248,1.0600205835,0.591473189959,-0.00114395167605,1.05969228588
+287,4.783333333,pose2_to_pose3_retreat,0.62082400171,-0.00981826418161,1.06002059407,0.591395147237,-0.00114402628251,1.05969229742
+288,4.800000000,pose2_to_pose3_retreat,0.620739904537,-0.00981820041678,1.06002062526,0.591311050819,-0.00114395975097,1.05969233772
+289,4.816666667,pose2_to_pose3_retreat,0.620658544999,-0.0098182552915,1.06002041421,0.591229690889,-0.00114401624414,1.05969212213
+290,4.833333333,pose2_to_pose3_retreat,0.620604218665,-0.00981833394019,1.06002053503,0.591175366239,-0.00114408913214,1.05969224321
+291,4.850000000,pose2_to_pose3_retreat,0.620574272543,-0.00981837838848,1.06002061049,0.591145421111,-0.00114413017505,1.05969231895
+292,4.866666667,pose2_to_pose3_retreat,0.620565130801,-0.00981839195734,1.06002063353,0.591136279672,-0.00114414270434,1.05969234207
+293,4.883333333,pose2_to_pose3_retreat,0.620559766048,-0.00981839020595,1.06002063396,0.59113091491,-0.00114414099033,1.05969234237
+294,4.900000000,pose2_to_pose3_retreat,0.620554511511,-0.00981838048974,1.0600206236,0.59112566021,-0.00114413184398,1.05969233173
+295,4.916666667,pose2_to_pose3_retreat,0.620540444482,-0.00981835447826,1.06002059587,0.591111592744,-0.00114410735809,1.05969230324
+296,4.933333333,pose2_to_pose3_retreat,0.620518600482,-0.00981831408632,1.06002055281,0.591089748066,-0.00114406933515,1.05969225901
+297,4.950000000,pose2_to_pose3_retreat,0.620489983494,-0.00981826117038,1.06002049639,0.591061130191,-0.00114401952275,1.05969220106
+298,4.966666667,pose2_to_pose3_retreat,0.620455159496,-0.009818196777,1.06002042774,0.591026305112,-0.00114395890607,1.05969213055
+299,4.983333333,pose2_to_pose3_retreat,0.620414477348,-0.00981818101925,1.06002057023,0.590985622563,-0.00114394456979,1.05969227314
+300,5.000000000,pose2_to_pose3_retreat,0.620368026427,-0.00981816587915,1.06002074361,0.590939171225,-0.00114393090929,1.05969244674
+301,5.016666667,pose2_to_pose3_retreat,0.620315315044,-0.00981813988827,1.06002086685,0.590886459241,-0.00114390700865,1.05969257055
+302,5.033333333,pose2_to_pose3_retreat,0.620255445526,-0.00981807515813,1.06002071307,0.590826588532,-0.00114384629608,1.05969241873
+303,5.050000000,pose2_to_pose3_retreat,0.620186890379,-0.00981800103721,1.06002053698,0.590758032021,-0.00114377677557,1.05969224488
+304,5.066666667,pose2_to_pose3_retreat,0.620106552678,-0.0098180784249,1.06002053505,0.590677694907,-0.00114385239594,1.05969223968
+305,5.083333333,pose2_to_pose3_retreat,0.620015662676,-0.00981817931575,1.06002054992,0.59058680575,-0.00114395069413,1.05969225039
+306,5.100000000,pose2_to_pose3_retreat,0.619913657758,-0.00981817411241,1.06002067617,0.590484802121,-0.00114394115828,1.05969237799
+307,5.116666667,pose2_to_pose3_retreat,0.619798167035,-0.00981820256539,1.06002074545,0.590369312719,-0.00114396521391,1.05969244818
+308,5.133333333,pose2_to_pose3_retreat,0.61966924207,-0.00981833939995,1.06002059741,0.590240388809,-0.00114409869363,1.05969229929
+309,5.150000000,pose2_to_pose3_retreat,0.619525950414,-0.00981834415836,1.06002053837,0.590097097202,-0.00114410344004,1.05969224034
+310,5.166666667,pose2_to_pose3_retreat,0.619369524253,-0.00981827369867,1.06002053516,0.589940670578,-0.00114403466946,1.05969223786
+311,5.183333333,pose2_to_pose3_retreat,0.619199793026,-0.0098182686222,1.06002053962,0.589770939902,-0.00114402789903,1.05969224349
+312,5.200000000,pose2_to_pose3_retreat,0.619015406401,-0.00981833168624,1.06002059895,0.589586554421,-0.00114408737318,1.05969230084
+313,5.216666667,pose2_to_pose3_retreat,0.618815389595,-0.00981839879732,1.06002066652,0.589386538452,-0.00114415198738,1.0596923652
+314,5.233333333,pose2_to_pose3_retreat,0.618595879994,-0.00981822810962,1.06002056925,0.589167025717,-0.00114399209945,1.05969226997
+315,5.250000000,pose2_to_pose3_retreat,0.618355906761,-0.00981827082037,1.06002063593,0.588927053096,-0.00114403314084,1.0596923318
+316,5.266666667,pose2_to_pose3_retreat,0.618090721837,-0.00981832038503,1.06002059746,0.588661869259,-0.00114407923148,1.05969229568
+317,5.283333333,pose2_to_pose3_retreat,0.617802822397,-0.00981825930953,1.06002038391,0.588373969547,-0.00114401894903,1.05969209602
+318,5.300000000,pose2_to_pose3_retreat,0.617491822278,-0.00981808719889,1.0600204788,0.588062967674,-0.0011438529999,1.05969219323
+319,5.316666667,pose2_to_pose3_retreat,0.617158928685,-0.00981810341631,1.06002049775,0.58773007445,-0.00114386835589,1.05969220997
+320,5.333333333,pose2_to_pose3_retreat,0.61680627828,-0.00981821681379,1.0600205862,0.587377425415,-0.00114397771998,1.05969229274
+321,5.350000000,pose2_to_pose3_retreat,0.616440218499,-0.00981826796781,1.0600206531,0.587011366268,-0.00114402723071,1.05969235756
+322,5.366666667,pose2_to_pose3_retreat,0.616061713989,-0.00981821719401,1.06002060207,0.586632861222,-0.00114397847185,1.0596923114
+323,5.383333333,pose2_to_pose3_retreat,0.615669924597,-0.00981830792763,1.06002037698,0.586241072718,-0.00114406626765,1.05969209235
+324,5.400000000,pose2_to_pose3_retreat,0.615264827176,-0.009818250719,1.06002055618,0.58583597537,-0.00114400940607,1.05969226641
+325,5.416666667,pose2_to_pose3_retreat,0.614844896636,-0.00981822840705,1.06002057618,0.585416044392,-0.00114398897246,1.05969228532
+326,5.433333333,pose2_to_pose3_retreat,0.6143956619,-0.00981826840243,1.06002055254,0.584966809909,-0.00114402859648,1.05969225887
+327,5.450000000,pose2_to_pose3_retreat,0.613919072915,-0.00981835276963,1.06002066012,0.58449022281,-0.00114410742323,1.05969235619
+328,5.466666667,pose2_to_pose3_retreat,0.613418827742,-0.00981830782204,1.06002041745,0.583989976929,-0.00114406475365,1.05969212591
+329,5.483333333,pose2_to_pose3_retreat,0.612901176346,-0.00981815193332,1.0600205693,0.583472323298,-0.00114391659528,1.05969227998
+330,5.500000000,pose2_to_pose3_retreat,0.612369239746,-0.0098181618274,1.06002048798,0.582940386386,-0.00114392753217,1.05969220103
+331,5.516666667,pose2_to_pose3_retreat,0.611828712012,-0.00981823111486,1.06002042569,0.582399859816,-0.00114399292019,1.0596921374
+332,5.533333333,pose2_to_pose3_retreat,0.611276618601,-0.00981825296445,1.06002052758,0.581847767542,-0.00114401114736,1.05969223257
+333,5.550000000,pose2_to_pose3_retreat,0.610690758291,-0.00981820559555,1.06002056789,0.581261906009,-0.00114396820385,1.05969226534
+334,5.566666667,pose2_to_pose3_retreat,0.610071820271,-0.00981810757754,1.06002052395,0.580642966387,-0.0011438752588,1.05969223096
+335,5.583333333,pose2_to_pose3_retreat,0.609422314616,-0.00981815317495,1.0600204301,0.579993462473,-0.0011439148827,1.05969213882
+336,5.600000000,pose2_to_pose3_retreat,0.608752564673,-0.00981821414847,1.06002045021,0.579323712858,-0.00114397457829,1.05969216322
+337,5.616666667,pose2_to_pose3_retreat,0.608067192515,-0.009818204564,1.06002037706,0.578638338902,-0.00114397106904,1.05969209072
+338,5.633333333,pose2_to_pose3_retreat,0.607387517403,-0.00981823301274,1.06002029907,0.577958663787,-0.00114399961426,1.05969201029
+339,5.650000000,pose2_to_pose3_retreat,0.606710651816,-0.0098183234952,1.06002045262,0.577281801103,-0.00114408034329,1.05969216134
+340,5.666666667,pose2_to_pose3_retreat,0.606026252784,-0.00981813198174,1.06002080745,0.576597400497,-0.00114389460959,1.05969250449
+341,5.683333333,pose2_to_pose3_retreat,0.605332389623,-0.00981815738359,1.06002068272,0.575903537793,-0.00114391825576,1.05969238511
+342,5.700000000,pose2_to_pose3_retreat,0.604628147297,-0.00981813316676,1.06002046783,0.575199295498,-0.00114389366264,1.05969217732
+343,5.716666667,pose2_to_pose3_retreat,0.603902700922,-0.0098181394144,1.06002044732,0.57447384858,-0.00114390171472,1.05969215775
+344,5.733333333,pose2_to_pose3_retreat,0.603153061543,-0.00981812751702,1.06002051204,0.573724208156,-0.00114389339293,1.05969222166
+345,5.750000000,pose2_to_pose3_retreat,0.602392435911,-0.00981811112413,1.06002054858,0.572963582005,-0.00114387881596,1.05969225663
+346,5.766666667,pose2_to_pose3_retreat,0.601623821593,-0.00981822000656,1.06002064951,0.572194968994,-0.00114398359067,1.05969234885
+347,5.783333333,pose2_to_pose3_retreat,0.600855378179,-0.00981824194669,1.06002038547,0.571426526474,-0.00114400207471,1.05969209594
+348,5.800000000,pose2_to_pose3_retreat,0.600097475128,-0.00981826056034,1.06002053102,0.570668622441,-0.00114402439987,1.0596922314
+349,5.816666667,pose2_to_pose3_retreat,0.599353122298,-0.00981826488437,1.06002036811,0.569924270167,-0.00114402661022,1.05969207441
+350,5.833333333,pose2_to_pose3_retreat,0.598610256409,-0.009818240433,1.06002038564,0.569181404231,-0.00114400208792,1.05969209805
+351,5.850000000,pose2_to_pose3_retreat,0.597864754898,-0.00981822894319,1.06002045703,0.568435902633,-0.00114399087524,1.05969216979
+352,5.866666667,pose2_to_pose3_retreat,0.597109733618,-0.00981826457087,1.06002038561,0.567680881978,-0.00114402451127,1.05969209498
+353,5.883333333,pose2_to_pose3_retreat,0.596340079251,-0.00981830622643,1.06002039106,0.566911227673,-0.00114406590207,1.05969210172
+354,5.900000000,pose2_to_pose3_retreat,0.595546490759,-0.0098181878448,1.06002077381,0.566117638385,-0.00114395072635,1.05969247119
+355,5.916666667,pose2_to_pose3_retreat,0.594758814665,-0.00981830991271,1.06002050116,0.565329963528,-0.00114406853319,1.05969220011
+356,5.933333333,pose2_to_pose3_retreat,0.593989808791,-0.00981830045783,1.06002077732,0.564560957035,-0.00114406123983,1.05969247463
+357,5.950000000,pose2_to_pose3_retreat,0.593243803334,-0.00981825941081,1.06002054392,0.563814951064,-0.00114402161639,1.05969224963
+358,5.966666667,pose2_to_pose3_retreat,0.592526214439,-0.00981816794307,1.06002035397,0.563097361254,-0.00114393301819,1.05969206588
+359,5.983333333,pose2_to_pose3_retreat,0.591839801885,-0.00981809922773,1.06002048863,0.56241094792,-0.00114386701536,1.05969219878
+360,6.000000000,pose2_to_pose3_retreat,0.591157805991,-0.00981826698321,1.06002039273,0.561728953892,-0.00114402846105,1.05969210233
+361,6.016666667,pose2_to_pose3_retreat,0.590465147477,-0.00981831872598,1.06002059435,0.561036295121,-0.00114408115458,1.05969230176
+362,6.033333333,pose2_to_pose3_retreat,0.589761901921,-0.00981828148765,1.06002045859,0.560333050491,-0.00114404065783,1.05969216914
+363,6.050000000,pose2_to_pose3_retreat,0.589051622715,-0.00981837741444,1.06002038398,0.559622772246,-0.00114413332812,1.05969209433
+364,6.066666667,pose2_to_pose3_retreat,0.588346099587,-0.00981830886061,1.06002056784,0.558917248063,-0.00114406849306,1.05969227451
+365,6.083333333,pose2_to_pose3_retreat,0.587656844568,-0.00981818282471,1.0600206812,0.558227991623,-0.00114394735081,1.05969238586
+366,6.100000000,pose2_to_pose3_retreat,0.587006695506,-0.00981823829059,1.0600205923,0.557577842836,-0.00114400194575,1.05969229533
+367,6.116666667,pose2_to_pose3_retreat,0.586388598334,-0.00981816464958,1.06002080242,0.556959745468,-0.00114392932102,1.05969249618
+368,6.133333333,pose2_to_pose3_retreat,0.585799769514,-0.00981814493788,1.06002048174,0.556370916371,-0.0011439103597,1.05969218053
+369,6.150000000,pose2_to_pose3_retreat,0.585230523906,-0.00981826364944,1.06002033929,0.55580167139,-0.00114402678571,1.05969204226
+370,6.166666667,pose2_to_pose3_retreat,0.584673081134,-0.00981829444778,1.06002028611,0.555244229374,-0.001144054881,1.05969199276
+371,6.183333333,pose2_to_pose3_retreat,0.584113319552,-0.00981823385573,1.06002032638,0.554684467183,-0.00114399636655,1.05969203267
+372,6.200000000,pose2_to_pose3_retreat,0.583556328119,-0.00981819849028,1.06002046031,0.55412747386,-0.00114396771015,1.05969215878
+373,6.216666667,pose2_to_pose3_retreat,0.583007916027,-0.00981830325044,1.06002056953,0.553579061995,-0.00114407204111,1.05969225899
+374,6.233333333,pose2_to_pose3_retreat,0.582482041052,-0.00981818037958,1.06002027253,0.553053188131,-0.00114394455482,1.05969198433
+375,6.250000000,pose2_to_pose3_retreat,0.581981751284,-0.00981812929322,1.06002060947,0.552552897714,-0.00114389600691,1.05969231232
+376,6.266666667,pose2_to_pose3_retreat,0.581508280021,-0.00981820187604,1.06002074059,0.552079428653,-0.00114396101343,1.05969244635
+377,6.283333333,pose2_to_pose3_retreat,0.581058436886,-0.00981831498756,1.06002056563,0.551629586731,-0.00114407007503,1.05969226954
+378,6.300000000,pose2_to_pose3_retreat,0.580628946952,-0.00981834548575,1.06002035252,0.551200096428,-0.00114410181204,1.05969205681
+379,6.316666667,pose2_to_pose3_retreat,0.58021982191,-0.00981827307371,1.06002038447,0.550790970352,-0.00114403284365,1.05969209051
+380,6.333333333,pose2_to_pose3_retreat,0.579834513212,-0.0098182000313,1.06002061026,0.550405660962,-0.00114396225132,1.05969231364
+381,6.350000000,pose2_to_pose3_retreat,0.579471470117,-0.00981828286748,1.06002026319,0.550042617298,-0.00114404661676,1.05969197716
+382,6.366666667,pose2_to_pose3_retreat,0.579132161801,-0.00981831280778,1.06002024054,0.549703310357,-0.00114407179741,1.05969195706
+383,6.383333333,pose2_to_pose3_retreat,0.578818662215,-0.00981825781529,1.06002049652,0.549389810867,-0.0011440167579,1.05969220564
+384,6.400000000,pose2_to_pose3_retreat,0.578523717191,-0.00981824773533,1.06002061368,0.54909486514,-0.00114400940102,1.05969231387
+385,6.416666667,pose2_to_pose3_retreat,0.578241427947,-0.00981827397241,1.06002055423,0.54881257558,-0.00114403677034,1.05969225283
+386,6.433333333,pose2_to_pose3_retreat,0.577971830318,-0.00981826265814,1.06002049796,0.548542979099,-0.001144021187,1.05969220654
+387,6.450000000,pose2_to_pose3_retreat,0.577715653639,-0.00981830294903,1.06002040598,0.548286802801,-0.00114406028735,1.05969211211
+388,6.466666667,pose2_to_pose3_retreat,0.577473901167,-0.00981836667706,1.0600203986,0.548045050079,-0.0011441248064,1.05969210629
+389,6.483333333,pose2_to_pose3_retreat,0.577248072803,-0.00981829400354,1.06002047894,0.547819220401,-0.00114405649941,1.05969218893
+390,6.500000000,pose2_to_pose3_retreat,0.57704357729,-0.00981819567658,1.06002061424,0.547614724554,-0.00114395956915,1.05969231727
+391,6.516666667,pose2_to_pose3_retreat,0.5768576054,-0.00981812066503,1.060020725,0.547428752411,-0.00114388545128,1.05969242718
+392,6.533333333,pose2_to_pose3_retreat,0.576690208627,-0.0098181631358,1.06002056094,0.547261355449,-0.00114392831935,1.05969226955
+393,6.550000000,pose2_to_pose3_retreat,0.576540169602,-0.0098182542637,1.06002033923,0.547111316573,-0.00114401897964,1.05969204681
+394,6.566666667,pose2_to_pose3_retreat,0.57640722513,-0.00981820938704,1.06002058298,0.546978372318,-0.00114397394947,1.0596922752
+395,6.583333333,pose2_to_pose3_retreat,0.576289208549,-0.00981827253809,1.06002056792,0.546860356808,-0.00114403330257,1.05969226456
+396,6.600000000,pose2_to_pose3_retreat,0.57618493519,-0.00981826173844,1.06002033008,0.546756084034,-0.00114402022549,1.05969203444
+397,6.616666667,pose2_to_pose3_retreat,0.576093929312,-0.00981827080955,1.06002056252,0.546665077915,-0.00114403025689,1.05969226358
+398,6.633333333,pose2_to_pose3_retreat,0.576013831841,-0.00981827792336,1.06002058739,0.546584979113,-0.00114404176033,1.0596922919
+399,6.650000000,pose2_to_pose3_retreat,0.575944340525,-0.00981824446216,1.06002052011,0.546515487394,-0.00114400953901,1.05969222796
+400,6.666666667,pose2_to_pose3_retreat,0.575884636077,-0.00981816551555,1.06002052166,0.546455782897,-0.00114393079122,1.05969222849
+401,6.683333333,pose2_to_pose3_retreat,0.575834405886,-0.00981811564919,1.06002051621,0.54640555153,-0.00114388490712,1.05969222324
+402,6.700000000,pose2_to_pose3_retreat,0.575793230503,-0.00981821494399,1.06002051682,0.546364377846,-0.0011439784278,1.05969222417
+403,6.716666667,pose2_to_pose3_retreat,0.57576009002,-0.00981806561578,1.06002041287,0.546331235848,-0.0011438342096,1.0596921209
+404,6.733333333,pose2_to_pose3_retreat,0.575734341518,-0.00981819735259,1.06002083301,0.546305488296,-0.00114396324615,1.05969252733
+405,6.750000000,pose2_to_pose3_retreat,0.575714405892,-0.00981824562187,1.06002079125,0.546285553126,-0.00114401001984,1.0596924841
+406,6.766666667,pose2_to_pose3_retreat,0.575699966196,-0.00981827070182,1.06002064599,0.546271113506,-0.00114403479889,1.05969234002
+407,6.783333333,pose2_to_pose3_retreat,0.575689232473,-0.00981829091895,1.06002053092,0.546260379893,-0.00114405453784,1.05969222779
+408,6.800000000,pose2_to_pose3_retreat,0.575681855804,-0.00981823519151,1.06002028706,0.546253003899,-0.00114399587955,1.05969200088
+409,6.816666667,pose2_to_pose3_retreat,0.575677510831,-0.00981831008965,1.06002046205,0.546248659578,-0.00114406871595,1.05969217175
+410,6.833333333,pose2_to_pose3_retreat,0.57567466369,-0.0098184023492,1.06002070443,0.546245812967,-0.00114415949006,1.05969240579
+411,6.850000000,pose2_to_pose3_retreat,0.575672593276,-0.00981835651166,1.06002078662,0.546243742053,-0.00114411540865,1.05969248647
+412,6.866666667,pose2_to_pose3_retreat,0.575670918812,-0.00981823188334,1.06002078016,0.546242066498,-0.00114399439972,1.05969248231
+413,6.883333333,pose2_to_pose3_retreat,0.57566952027,-0.00981816262232,1.06002074803,0.54624066753,-0.00114392649829,1.05969245255
+414,6.900000000,pose2_to_pose3_retreat,0.57566863981,-0.00981825087916,1.06002062661,0.546239788638,-0.00114400931389,1.05969233432
+415,6.916666667,pose2_to_pose3_retreat,0.575668100898,-0.00981830489945,1.06002055229,0.546239250686,-0.0011440600037,1.05969226195
+416,6.933333333,pose2_to_pose3_retreat,0.575667798404,-0.00981832561766,1.06002052352,0.546238948548,-0.00114407949437,1.05969223373
+417,6.950000000,pose2_to_pose3_retreat,0.575667724538,-0.00981831470338,1.06002053804,0.546238874464,-0.00114406934793,1.05969224746
+418,6.966666667,pose2_to_pose3_retreat,0.57566766262,-0.00981830555465,1.0600205502,0.546238812364,-0.00114406084283,1.05969225898
+419,6.983333333,pose2_to_pose3_retreat,0.575667629002,-0.00981830058738,1.06002055681,0.546238778647,-0.00114405622502,1.05969226523
+420,7.000000000,pose2_to_pose3_retreat,0.575667605471,-0.00981829711043,1.06002056143,0.546238755046,-0.00114405299268,1.0596922696
+421,7.016666667,pose2_to_pose3_retreat,0.575667584677,-0.0098182940381,1.06002056552,0.546238734191,-0.00114405013649,1.05969227347
+422,7.033333333,pose2_to_pose3_retreat,0.575667521418,-0.00981828469111,1.06002057795,0.546238670746,-0.00114404144709,1.05969228523
+423,7.050000000,pose2_to_pose3_retreat,0.575667426682,-0.00981827069328,1.06002059656,0.546238575731,-0.00114402843403,1.05969230285
+424,7.066666667,pose2_to_pose3_retreat,0.575667368246,-0.00981826205891,1.06002060805,0.546238517123,-0.00114402040711,1.05969231372
+425,7.083333333,pose2_to_pose3_retreat,0.575667174328,-0.0098182334062,1.06002064615,0.546238322633,-0.00114399377018,1.05969234978
+426,7.100000000,pose2_to_pose3_retreat,0.575667089258,-0.00981822606187,1.06002065927,0.546238237387,-0.00114398705855,1.05969236205
+427,7.116666667,pose2_to_pose3_retreat,0.575667072659,-0.00981823727966,1.06002065313,0.546238220931,-0.00114399779065,1.05969235584
+428,7.133333333,pose2_to_pose3_retreat,0.575666994497,-0.00981829010021,1.06002062422,0.546238143447,-0.00114404832425,1.05969232663
+429,7.150000000,pose2_to_pose3_retreat,0.575666884939,-0.00981836413818,1.06002058369,0.546238034839,-0.00114411915665,1.05969228568
+430,7.166666667,pose2_to_pose3_retreat,0.575666781151,-0.00981840498343,1.06002055149,0.54623793198,-0.00114415688173,1.05969225253
+431,7.183333333,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.0011441293177,1.05969225353
+432,7.200000000,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931766,1.05969225353

Obstacle_avoidance/cylinder_15A_10/position_07/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a56bd81ef18a0c6161f9dd10561739c6bd4efdbc4323e9ee4100e608ac61fc55
+size 26232718

Obstacle_avoidance/cylinder_15A_10/position_07/depth_05/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,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+1,0.016666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+2,0.033333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+3,0.050000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+4,0.066666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+5,0.083333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+6,0.100000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+7,0.116666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+8,0.133333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+9,0.150000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+10,0.166666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+11,0.183333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+12,0.200000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+13,0.216666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+14,0.233333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+15,0.250000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+16,0.266666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+17,0.283333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+18,0.300000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+19,0.316666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+20,0.333333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+21,0.350000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+22,0.366666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+23,0.383333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+24,0.400000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+25,0.416666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+26,0.433333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+27,0.450000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+28,0.466666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+29,0.483333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+30,0.500000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+31,0.516666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+32,0.533333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+33,0.550000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+34,0.566666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+35,0.583333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+36,0.600000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+37,0.616666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+38,0.633333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+39,0.650000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+40,0.666666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+41,0.683333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+42,0.700000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+43,0.716666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+44,0.733333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+45,0.750000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+46,0.766666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+47,0.783333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+48,0.800000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+49,0.816666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+50,0.833333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+51,0.850000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+52,0.866666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+53,0.883333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+54,0.900000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+55,0.916666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+56,0.933333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+57,0.950000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+58,0.966666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+59,0.983333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+60,1.000000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+61,1.016666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+62,1.033333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+63,1.050000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+64,1.066666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+65,1.083333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+66,1.100000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+67,1.116666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+68,1.133333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+69,1.150000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+70,1.166666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+71,1.183333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+72,1.200000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+73,1.216666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+74,1.233333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+75,1.250000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+76,1.266666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+77,1.283333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+78,1.300000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+79,1.316666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+80,1.333333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+81,1.350000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+82,1.366666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+83,1.383333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+84,1.400000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+85,1.416666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+86,1.433333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+87,1.450000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+88,1.466666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+89,1.483333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+90,1.500000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+91,1.516666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+92,1.533333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+93,1.550000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+94,1.566666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+95,1.583333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+96,1.600000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+97,1.616666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+98,1.633333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+99,1.650000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+100,1.666666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+101,1.683333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+102,1.700000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+103,1.716666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+104,1.733333333,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+105,1.750000000,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+106,1.766666667,pose1_baseline,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+107,1.783333333,pose1_to_pose2_press,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931767,1.05969225353
+108,1.800000000,pose1_to_pose2_press,0.575666808025,-0.00981836406259,1.06002054226,0.546237958461,-0.00114411722198,1.05969224524
+109,1.816666667,pose1_to_pose2_press,0.575666903574,-0.00981833375914,1.06002051837,0.546238052746,-0.00114409098248,1.05969222725
+110,1.833333333,pose1_to_pose2_press,0.575667087056,-0.00981830363542,1.06002053929,0.546238235774,-0.00114406235506,1.05969224935
+111,1.850000000,pose1_to_pose2_press,0.575667291411,-0.00981827922302,1.06002058435,0.546238440266,-0.00114403755556,1.05969229241
+112,1.866666667,pose1_to_pose2_press,0.575667446955,-0.00981826064178,1.06002061864,0.546238595913,-0.00114401867969,1.05969232518
+113,1.883333333,pose1_to_pose2_press,0.575667454711,-0.00981825971523,1.06002062035,0.546238603674,-0.00114401773845,1.05969232681
+114,1.900000000,pose1_to_pose2_press,0.575667973673,-0.00981828135834,1.06002061679,0.5462391229,-0.00114403863411,1.05969231944
+115,1.916666667,pose1_to_pose2_press,0.57566968004,-0.0098182847508,1.06002055132,0.546240829342,-0.00114404186665,1.0596922515
+116,1.933333333,pose1_to_pose2_press,0.575675153919,-0.00981818794364,1.06002070409,0.546246302368,-0.00114394758718,1.05969241377
+117,1.950000000,pose1_to_pose2_press,0.575686064676,-0.00981816256389,1.06002061319,0.546257211639,-0.00114392728737,1.05969232184
+118,1.966666667,pose1_to_pose2_press,0.575705814456,-0.00981836399062,1.06002054244,0.546276964295,-0.00114411918662,1.05969224496
+119,1.983333333,pose1_to_pose2_press,0.575734725545,-0.00981814950934,1.06002054852,0.546305872159,-0.00114391570686,1.05969224939
+120,2.000000000,pose1_to_pose2_press,0.575774876798,-0.00981826566321,1.06002047622,0.546346023657,-0.0011440307559,1.05969218423
+121,2.016666667,pose1_to_pose2_press,0.575824856646,-0.0098182607285,1.0600204541,0.546396003603,-0.00114402542121,1.05969216383
+122,2.033333333,pose1_to_pose2_press,0.575884808383,-0.00981821973472,1.06002053228,0.546455955927,-0.00114398260093,1.05969223759
+123,2.050000000,pose1_to_pose2_press,0.575954216627,-0.00981821899143,1.06002054753,0.546525363307,-0.00114398497428,1.05969224784
+124,2.066666667,pose1_to_pose2_press,0.576033051749,-0.00981812496865,1.0600206165,0.546604197988,-0.00114389228012,1.05969232122
+125,2.083333333,pose1_to_pose2_press,0.576121969301,-0.00981814837097,1.06002047092,0.546693115654,-0.00114391522343,1.05969217744
+126,2.100000000,pose1_to_pose2_press,0.576221679418,-0.00981816890679,1.06002039897,0.546792826442,-0.001143933381,1.05969210826
+127,2.116666667,pose1_to_pose2_press,0.576334677521,-0.0098182178549,1.06002042875,0.546905824545,-0.00114398264536,1.0596921297
+128,2.133333333,pose1_to_pose2_press,0.576461073049,-0.0098182543125,1.06002049035,0.547032220076,-0.00114401909109,1.05969219127
+129,2.150000000,pose1_to_pose2_press,0.576601581985,-0.00981824527615,1.06002053487,0.547172729613,-0.00114400789705,1.05969223887
+130,2.166666667,pose1_to_pose2_press,0.576759851656,-0.00981828354529,1.0600205861,0.547330999782,-0.00114404448467,1.05969228982
+131,2.183333333,pose1_to_pose2_press,0.576935489859,-0.00981834082953,1.06002052187,0.547506637605,-0.00114410294114,1.05969222858
+132,2.200000000,pose1_to_pose2_press,0.577129618996,-0.00981828481264,1.06002034769,0.547700766514,-0.0011440477756,1.05969205234
+133,2.216666667,pose1_to_pose2_press,0.577341650476,-0.00981825873558,1.06002047306,0.54791279897,-0.00114401850865,1.0596921744
+134,2.233333333,pose1_to_pose2_press,0.577572705475,-0.00981816611556,1.0600201676,0.548143852368,-0.00114393101768,1.0596918769
+135,2.250000000,pose1_to_pose2_press,0.577822163851,-0.00981823007705,1.0600203032,0.548393310667,-0.00114399536622,1.05969200917
+136,2.266666667,pose1_to_pose2_press,0.578089851158,-0.00981826388455,1.06002067328,0.548660999219,-0.00114402517233,1.05969237331
+137,2.283333333,pose1_to_pose2_press,0.578377867221,-0.00981818870728,1.0600202944,0.548949014465,-0.00114395243799,1.05969200299
+138,2.300000000,pose1_to_pose2_press,0.578684748683,-0.00981811935815,1.06002047732,0.549255895955,-0.00114388297645,1.05969218635
+139,2.316666667,pose1_to_pose2_press,0.579009854093,-0.00981820133867,1.0600204225,0.54958100245,-0.0011439612557,1.05969213209
+140,2.333333333,pose1_to_pose2_press,0.579350612232,-0.00981824308565,1.06002066688,0.549921759642,-0.00114400657729,1.05969236679
+141,2.350000000,pose1_to_pose2_press,0.579707117477,-0.00981827510425,1.06002087698,0.550278265648,-0.00114403616531,1.05969257289
+142,2.366666667,pose1_to_pose2_press,0.580086181035,-0.00981830423355,1.06002075272,0.550657329602,-0.00114406373612,1.05969245427
+143,2.383333333,pose1_to_pose2_press,0.58048967383,-0.00981832125482,1.06002046942,0.55106082185,-0.00114408229073,1.05969217941
+144,2.400000000,pose1_to_pose2_press,0.580921728575,-0.00981833333248,1.06002044278,0.551492877372,-0.00114409166414,1.05969215459
+145,2.416666667,pose1_to_pose2_press,0.581379098728,-0.00981828056397,1.06002068146,0.551950245465,-0.00114404620214,1.05969238485
+146,2.433333333,pose1_to_pose2_press,0.58185928577,-0.00981815250801,1.06002070136,0.552430430737,-0.00114392391875,1.05969241079
+147,2.450000000,pose1_to_pose2_press,0.582354303615,-0.00981820258299,1.06002040916,0.55292545147,-0.00114396428349,1.05969211622
+148,2.466666667,pose1_to_pose2_press,0.582863502219,-0.00981809059727,1.06002038787,0.553434648174,-0.00114385864516,1.05969209753
+149,2.483333333,pose1_to_pose2_press,0.583395010692,-0.00981816093677,1.06002029469,0.553966157583,-0.00114392588012,1.05969200242
+150,2.500000000,pose1_to_pose2_press,0.583950150283,-0.00981816437197,1.06002054848,0.554521297009,-0.00114392980331,1.05969225824
+151,2.516666667,pose1_to_pose2_press,0.584532567856,-0.00981832520215,1.06002047543,0.555103717169,-0.00114408208261,1.05969217911
+152,2.533333333,pose1_to_pose2_press,0.585135910231,-0.00981827995092,1.06002040462,0.555707058835,-0.00114403913511,1.05969211103
+153,2.550000000,pose1_to_pose2_press,0.585757518169,-0.00981820708035,1.06002047083,0.556328666018,-0.0011439687515,1.05969217913
+154,2.566666667,pose1_to_pose2_press,0.586378968321,-0.00981817228838,1.06002066366,0.556950115706,-0.00114393572672,1.05969236691
+155,2.583333333,pose1_to_pose2_press,0.587000447112,-0.00981815093179,1.06002079184,0.55757159482,-0.00114391337632,1.05969249234
+156,2.600000000,pose1_to_pose2_press,0.587640629798,-0.00981814313322,1.06002062904,0.558211777909,-0.00114390401071,1.05969233487
+157,2.616666667,pose1_to_pose2_press,0.588299352739,-0.00981812642745,1.06002033683,0.558870498907,-0.00114389368678,1.05969204814
+158,2.633333333,pose1_to_pose2_press,0.588976047895,-0.00981814753296,1.06002063489,0.559547194848,-0.00114391237522,1.05969233974
+159,2.650000000,pose1_to_pose2_press,0.589682046384,-0.00981836069738,1.06002040433,0.560253195171,-0.00114411922878,1.05969211148
+160,2.666666667,pose1_to_pose2_press,0.590420120882,-0.00981823878366,1.06002054296,0.560991266781,-0.001144007304,1.05969224508
+161,2.683333333,pose1_to_pose2_press,0.591164020903,-0.0098181710517,1.06002077214,0.561735169205,-0.00114393150315,1.05969247213
+162,2.700000000,pose1_to_pose2_press,0.591912966565,-0.00981813091341,1.06002079474,0.562484112276,-0.00114390018627,1.0596924939
+163,2.716666667,pose1_to_pose2_press,0.592660731794,-0.00981820836571,1.06002060378,0.563231879385,-0.00114397117535,1.05969230521
+164,2.733333333,pose1_to_pose2_press,0.593402231827,-0.00981824590036,1.06002059458,0.56397337876,-0.00114401071555,1.05969230196
+165,2.750000000,pose1_to_pose2_press,0.594136541889,-0.00981826506453,1.06002045569,0.564707689644,-0.00114402712973,1.05969216222
+166,2.766666667,pose1_to_pose2_press,0.594882248986,-0.00981821737504,1.06002039123,0.565453397548,-0.00114397667893,1.05969209827
+167,2.783333333,pose1_to_pose2_press,0.595646087872,-0.0098181946943,1.06002048209,0.566217236533,-0.00114395359243,1.05969219108
+168,2.800000000,pose1_to_pose2_press,0.596434022193,-0.00981828503614,1.06002048946,0.567005171437,-0.00114404227061,1.05969219016
+169,2.816666667,pose1_to_pose2_press,0.597243753043,-0.00981817062521,1.06002066953,0.567814898538,-0.00114394061614,1.05969236923
+170,2.833333333,pose1_to_pose2_press,0.598072812515,-0.00981819540552,1.06002056147,0.568643960775,-0.0011439555678,1.05969227309
+171,2.850000000,pose1_to_pose2_press,0.598890376127,-0.00981828573738,1.06002033241,0.569461523798,-0.00114404827273,1.05969203422
+172,2.866666667,pose1_to_pose2_press,0.599678482205,-0.00981822606662,1.06002053368,0.570249629799,-0.00114398878166,1.05969223763
+173,2.883333333,pose1_to_pose2_press,0.600449952352,-0.00981823801854,1.06002039321,0.571021102703,-0.00114399121696,1.05969210156
+174,2.900000000,pose1_to_pose2_press,0.601208717177,-0.00981819676206,1.06002027597,0.571779865093,-0.00114395804739,1.059691989
+175,2.916666667,pose1_to_pose2_press,0.60196765674,-0.00981836243693,1.06002053271,0.572538805329,-0.00114412163804,1.05969224048
+176,2.933333333,pose1_to_pose2_press,0.602739895378,-0.00981834080001,1.06002074574,0.573311044237,-0.00114409936856,1.05969244617
+177,2.950000000,pose1_to_pose2_press,0.603533462992,-0.00981818530106,1.06002064157,0.574104610045,-0.00114394991997,1.05969234403
+178,2.966666667,pose1_to_pose2_press,0.60433169039,-0.00981806353398,1.06002057986,0.574902836234,-0.00114383202862,1.05969228836
+179,2.983333333,pose1_to_pose2_press,0.605128266862,-0.00981813624503,1.06002050185,0.575699413429,-0.00114390212504,1.05969221464
+180,3.000000000,pose1_to_pose2_press,0.605889371087,-0.00981828604786,1.06002044514,0.576460520138,-0.00114404366234,1.05969215369
+181,3.016666667,pose1_to_pose2_press,0.60661763204,-0.00981823561951,1.06002057081,0.577188781706,-0.00114399130686,1.05969227521
+182,3.033333333,pose1_to_pose2_press,0.607317341148,-0.00981806248836,1.0600206066,0.577888487244,-0.0011438301213,1.05969231546
+183,3.050000000,pose1_to_pose2_press,0.608003267423,-0.00981812037797,1.06002055018,0.578574413127,-0.00114388974715,1.05969224837
+184,3.066666667,pose1_to_pose2_press,0.608687057754,-0.0098182623998,1.06002032048,0.579258206227,-0.00114402141872,1.05969204402
+185,3.083333333,pose1_to_pose2_press,0.609371147343,-0.00981819917761,1.06002052787,0.579942293817,-0.00114396576642,1.05969223069
+186,3.100000000,pose1_to_pose2_press,0.610051289369,-0.00981824322653,1.06002062013,0.580622438886,-0.00114399928984,1.05969232834
+187,3.116666667,pose1_to_pose2_press,0.610718587275,-0.00981820139907,1.06002053791,0.581289735759,-0.00114396090221,1.05969224783
+188,3.133333333,pose1_to_pose2_press,0.611361542216,-0.00981823063672,1.06002048806,0.581932691993,-0.00114398558278,1.05969220255
+189,3.150000000,pose1_to_pose2_press,0.611966680413,-0.00981831281941,1.06002056175,0.582537830658,-0.00114406615269,1.05969227648
+190,3.166666667,pose1_to_pose2_press,0.612547907292,-0.00981833488094,1.06002064773,0.58311905719,-0.00114408968748,1.05969235422
+191,3.183333333,pose1_to_pose2_press,0.613107601933,-0.00981830486199,1.06002059484,0.583678751207,-0.00114406195302,1.05969229431
+192,3.200000000,pose1_to_pose2_press,0.613651103652,-0.00981830902388,1.06002047136,0.584222252433,-0.001144067438,1.05969217256
+193,3.216666667,pose1_to_pose2_press,0.614180026245,-0.00981834870671,1.06002064872,0.584751176811,-0.00114410070164,1.05969234771
+194,3.233333333,pose1_to_pose2_press,0.614699150315,-0.00981831499902,1.06002039084,0.585270297189,-0.0011440786379,1.05969210181
+195,3.250000000,pose1_to_pose2_press,0.615209992608,-0.00981826150217,1.06002053057,0.585781140804,-0.00114402052348,1.05969223152
+196,3.266666667,pose1_to_pose2_press,0.615712461332,-0.00981830125357,1.06002062651,0.586283608376,-0.00114406353553,1.05969233174
+197,3.283333333,pose1_to_pose2_press,0.616196494187,-0.00981820660811,1.06002076581,0.586767640988,-0.00114396958937,1.05969246584
+198,3.300000000,pose1_to_pose2_press,0.616656983183,-0.00981816209183,1.0600205848,0.58722813033,-0.00114392309683,1.05969229676
+199,3.316666667,pose1_to_pose2_press,0.617085397979,-0.00981824686651,1.06002050905,0.587656545692,-0.00114400531632,1.05969221819
+200,3.333333333,pose1_to_pose2_press,0.61748295698,-0.00981833970282,1.06002060215,0.58805410495,-0.00114409707288,1.0596923021
+201,3.350000000,pose1_to_pose2_press,0.617850809434,-0.00981832905294,1.06002063935,0.588421957257,-0.00114408682944,1.05969233776
+202,3.366666667,pose1_to_pose2_press,0.618202153204,-0.00981823529854,1.0600205082,0.588773300575,-0.00114399433248,1.0596922077
+203,3.383333333,pose1_to_pose2_press,0.618540925378,-0.00981824297006,1.06002029392,0.589112071285,-0.00114400611891,1.05969199826
+204,3.400000000,pose1_to_pose2_press,0.618870133362,-0.00981815695288,1.06002038861,0.5894412766,-0.00114392882879,1.05969209663
+205,3.416666667,pose1_to_pose2_press,0.619187845419,-0.00981813278948,1.06002062047,0.589758990072,-0.00114389944403,1.05969232533
+206,3.433333333,pose1_to_pose2_press,0.61948738068,-0.00981812744764,1.06002032495,0.590058525337,-0.00114389342688,1.05969203489
+207,3.450000000,pose1_to_pose2_press,0.619766657635,-0.00981827063867,1.06002045756,0.59033780375,-0.00114403153931,1.05969216544
+208,3.466666667,pose1_to_pose2_press,0.62002098341,-0.00981827167547,1.0600205358,0.59059213,-0.00114403085382,1.05969223922
+209,3.483333333,pose1_to_pose2_press,0.620251245132,-0.00981825094835,1.06002071416,0.590822391326,-0.00114401152348,1.05969240976
+210,3.500000000,pose1_to_pose2_press,0.620457354995,-0.0098181954565,1.06002080545,0.59102850012,-0.00114395943283,1.05969250154
+211,3.516666667,pose1_to_pose2_press,0.620643383807,-0.00981819139623,1.0600207861,0.591214528923,-0.00114395501876,1.05969248717
+212,3.533333333,pose1_to_pose2_press,0.620812021307,-0.00981826346909,1.06002073142,0.591383167717,-0.00114402247488,1.05969243442
+213,3.550000000,pose1_to_pose2_press,0.620967017057,-0.00981817770457,1.06002052298,0.591538162587,-0.00114393940286,1.0596922313
+214,3.566666667,pose1_to_pose2_press,0.621110757459,-0.00981829361164,1.06002067188,0.5916819036,-0.00114405327086,1.05969237003
+215,3.583333333,pose1_to_pose2_press,0.621242733366,-0.00981812996452,1.06002055184,0.591813878228,-0.00114389360472,1.05969225666
+216,3.600000000,pose1_to_pose2_press,0.621363497575,-0.0098182310283,1.06002036249,0.591934642845,-0.00114399326141,1.05969206418
+217,3.616666667,pose1_to_pose2_press,0.621472553935,-0.00981821813265,1.06002047718,0.592043699364,-0.00114397966879,1.05969217887
+218,3.633333333,pose1_to_pose2_press,0.62156703108,-0.00981819219611,1.0600204523,0.59213817648,-0.00114395356328,1.05969215799
+219,3.650000000,pose1_to_pose2_press,0.621648160429,-0.00981818029524,1.06002047523,0.592219306207,-0.00114394036463,1.05969218197
+220,3.666666667,pose1_to_pose2_press,0.621716138293,-0.00981825811691,1.06002047438,0.592287285432,-0.0011440132466,1.0596921808
+221,3.683333333,pose1_to_pose2_press,0.621773415807,-0.00981825659624,1.06002046357,0.592344562156,-0.00114401432007,1.05969216661
+222,3.700000000,pose1_to_pose2_press,0.62182059264,-0.00981805748741,1.06002056478,0.592391734886,-0.00114382968235,1.05969226197
+223,3.716666667,pose1_to_pose2_press,0.621860321881,-0.00981802842189,1.06002053898,0.592431463103,-0.00114380350525,1.05969224102
+224,3.733333333,pose1_to_pose2_press,0.621893217723,-0.00981828718188,1.06002041921,0.59246436268,-0.00114404960474,1.05969212192
+225,3.750000000,pose1_to_pose2_press,0.621919733393,-0.00981816773152,1.0600206049,0.592490876894,-0.00114393514658,1.05969230801
+226,3.766666667,pose1_to_pose2_press,0.621940629655,-0.00981831817545,1.06002032187,0.592511774603,-0.00114408041868,1.05969202956
+227,3.783333333,pose1_to_pose2_press,0.621956024156,-0.00981832042992,1.06002032426,0.592527169558,-0.00114408106676,1.05969203356
+228,3.800000000,pose1_to_pose2_press,0.621967742243,-0.0098182252905,1.06002051509,0.59253888706,-0.00114398801145,1.05969222381
+229,3.816666667,pose1_to_pose2_press,0.621976117016,-0.00981824878699,1.06002051356,0.592547261757,-0.00114401179783,1.05969222268
+230,3.833333333,pose1_to_pose2_press,0.621982137325,-0.0098182570749,1.06002052396,0.592553282049,-0.00114402030163,1.05969223109
+231,3.850000000,pose1_to_pose2_press,0.621986225363,-0.00981827023225,1.06002052384,0.592557370593,-0.00114403173306,1.05969223155
+232,3.866666667,pose1_to_pose2_press,0.621988673428,-0.00981828697883,1.060020515,0.592559819514,-0.00114404543203,1.05969222534
+233,3.883333333,pose1_to_pose2_press,0.621990232106,-0.00981829112401,1.06002053753,0.592561378346,-0.00114404905941,1.05969224769
+234,3.900000000,pose1_to_pose2_press,0.621991225543,-0.00981828624242,1.06002058439,0.592562371429,-0.00114404549005,1.0596922923
+235,3.916666667,pose1_to_pose2_press,0.621991865322,-0.00981828309865,1.06002061457,0.59256301098,-0.00114404319136,1.05969232103
+236,3.933333333,pose1_to_pose2_press,0.62199223337,-0.00981828129012,1.06002063193,0.592563378896,-0.00114404186899,1.05969233756
+237,3.950000000,pose1_to_pose2_press,0.621992450261,-0.00981828022436,1.06002064217,0.59256359571,-0.00114404108972,1.0596923473
+238,3.966666667,pose1_to_pose2_press,0.621992504247,-0.00981827995908,1.06002064471,0.592563649677,-0.00114404089575,1.05969234972
+239,3.983333333,pose1_to_pose2_press,0.621992556783,-0.00981827970092,1.06002064719,0.592563702194,-0.00114404070699,1.05969235208
+240,4.000000000,pose1_to_pose2_press,0.621992712704,-0.00981826635649,1.06002061063,0.592563858028,-0.00114402763215,1.05969231573
+241,4.016666667,pose1_to_pose2_press,0.621993019202,-0.00981823779609,1.06002053064,0.59256416435,-0.00114399961349,1.05969223625
+242,4.033333333,pose1_to_pose2_press,0.621993526652,-0.0098181905104,1.06002039821,0.592564671509,-0.00114395322472,1.05969210466
+243,4.050000000,pose1_to_pose2_press,0.62199404616,-0.00981813354757,1.06002032333,0.592565190681,-0.0011438973487,1.05969202988
+244,4.066666667,pose1_to_pose2_press,0.621994268196,-0.00981807047125,1.0600205662,0.592565412404,-0.00114383550021,1.05969226933
+245,4.083333333,pose1_to_pose2_press,0.621994379076,-0.00981805482746,1.06002066538,0.592565523241,-0.00114382006123,1.0596923674
+246,4.100000000,pose1_to_pose2_press,0.621994494799,-0.00981812144166,1.06002065328,0.592565639511,-0.0011438847531,1.05969235721
+247,4.116666667,pose1_to_pose2_press,0.621994596486,-0.00981817997596,1.06002064264,0.592565741678,-0.00114394159823,1.05969234826
+248,4.133333333,pose1_to_pose2_press,0.621994508157,-0.00981817641237,1.06002067561,0.592565653468,-0.00114393783821,1.05969237564
+249,4.150000000,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653471,-0.00114393783948,1.05969237564
+250,4.166666667,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653471,-0.00114393783954,1.05969237564
+251,4.183333333,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653471,-0.00114393783957,1.05969237564
+252,4.200000000,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653471,-0.0011439378396,1.05969237564
+253,4.216666667,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653471,-0.00114393783962,1.05969237564
+254,4.233333333,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653472,-0.00114393783964,1.05969237564
+255,4.250000000,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653472,-0.00114393783968,1.05969237564
+256,4.266666667,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653472,-0.00114393783971,1.05969237564
+257,4.283333333,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653472,-0.00114393783973,1.05969237564
+258,4.300000000,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653472,-0.00114393783974,1.05969237564
+259,4.316666667,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653472,-0.00114393783976,1.05969237564
+260,4.333333333,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653472,-0.00114393783978,1.05969237564
+261,4.350000000,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653472,-0.0011439378398,1.05969237564
+262,4.366666667,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653472,-0.00114393783981,1.05969237564
+263,4.383333333,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653472,-0.00114393783982,1.05969237564
+264,4.400000000,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653472,-0.00114393783984,1.05969237564
+265,4.416666667,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653472,-0.00114393783985,1.05969237564
+266,4.433333333,pose2_hold,0.621994508157,-0.00981817641237,1.06002067561,0.592565653472,-0.0011439378399,1.05969237564
+267,4.450000000,pose2_to_pose3_retreat,0.621994596874,-0.00981818019946,1.0600206426,0.592565742068,-0.00114394181752,1.05969234822
+268,4.466666667,pose2_to_pose3_retreat,0.621994596854,-0.00981818430635,1.06002065586,0.592565742083,-0.00114394582156,1.05969236115
+269,4.483333333,pose2_to_pose3_retreat,0.621994596806,-0.00981819427364,1.06002068806,0.592565742117,-0.00114395553924,1.05969239253
+270,4.500000000,pose2_to_pose3_retreat,0.621994596722,-0.00981821147647,1.06002074362,0.592565742177,-0.00114397231127,1.05969244669
+271,4.516666667,pose2_to_pose3_retreat,0.621994596721,-0.00981821154031,1.06002074383,0.592565742177,-0.00114397237351,1.05969244689
+272,4.533333333,pose2_to_pose3_retreat,0.62199458757,-0.00981822333841,1.06002076451,0.592565733154,-0.00114398376278,1.05969246695
+273,4.550000000,pose2_to_pose3_retreat,0.621994300018,-0.00981829832165,1.06002045628,0.592565447159,-0.00114405328754,1.05969216358
+274,4.566666667,pose2_to_pose3_retreat,0.621993158271,-0.0098183110641,1.06002043806,0.592564305929,-0.00114406390031,1.05969215487
+275,4.583333333,pose2_to_pose3_retreat,0.621990157253,-0.0098182079178,1.06002067398,0.592561301879,-0.00114397173978,1.05969237173
+276,4.600000000,pose2_to_pose3_retreat,0.621982102397,-0.00981827206919,1.06002059894,0.59255324725,-0.00114403496233,1.05969230155
+277,4.616666667,pose2_to_pose3_retreat,0.621967575725,-0.009818293553,1.0600206723,0.592538721524,-0.00114405338113,1.05969237274
+278,4.633333333,pose2_to_pose3_retreat,0.621944658,-0.00981813554541,1.0600203963,0.592515802048,-0.00114390075413,1.05969211028
+279,4.650000000,pose2_to_pose3_retreat,0.621912946951,-0.00981819131242,1.0600205435,0.59248409186,-0.0011439539944,1.05969224564
+280,4.666666667,pose2_to_pose3_retreat,0.621870978462,-0.00981826550403,1.06002046254,0.592442124243,-0.00114402528213,1.05969216727
+281,4.683333333,pose2_to_pose3_retreat,0.621819670683,-0.00981824811642,1.06002037771,0.5923908168,-0.00114400665004,1.05969208975
+282,4.700000000,pose2_to_pose3_retreat,0.621758640235,-0.00981826877394,1.06002048131,0.59232978531,-0.00114403083923,1.05969218754
+283,4.716666667,pose2_to_pose3_retreat,0.621687846883,-0.00981825719174,1.06002062739,0.592258992518,-0.0011440183375,1.05969232746
+284,4.733333333,pose2_to_pose3_retreat,0.62160724138,-0.00981822404618,1.06002043429,0.592178385734,-0.00114398940318,1.0596921387
+285,4.750000000,pose2_to_pose3_retreat,0.621516481877,-0.00981818913521,1.06002047067,0.592087626122,-0.0011439545754,1.0596921753
+286,4.766666667,pose2_to_pose3_retreat,0.621415117321,-0.00981822049801,1.06002071643,0.591986263087,-0.00114398099405,1.05969241739
+287,4.783333333,pose2_to_pose3_retreat,0.621300590527,-0.00981827063596,1.06002078521,0.591871736612,-0.00114403015751,1.05969248705
+288,4.800000000,pose2_to_pose3_retreat,0.621171425263,-0.00981814137016,1.06002077005,0.591742570071,-0.00114390526226,1.05969247503
+289,4.816666667,pose2_to_pose3_retreat,0.621026155903,-0.00981815514169,1.06002077559,0.591597299586,-0.00114392329847,1.05969247575
+290,4.833333333,pose2_to_pose3_retreat,0.620864199865,-0.009818179981,1.06002043241,0.591435343167,-0.00114394935808,1.05969213919
+291,4.850000000,pose2_to_pose3_retreat,0.620687149581,-0.00981812707211,1.06002046851,0.591258293976,-0.0011438927486,1.05969218119
+292,4.866666667,pose2_to_pose3_retreat,0.620496833938,-0.00981818901657,1.06002069392,0.591067979016,-0.00114395303525,1.05969239462
+293,4.883333333,pose2_to_pose3_retreat,0.620293865215,-0.00981829043879,1.06002061802,0.590865011304,-0.00114405136151,1.05969231774
+294,4.900000000,pose2_to_pose3_retreat,0.620076580866,-0.00981827379628,1.0600203984,0.590647727118,-0.00114403415542,1.05969210576
+295,4.916666667,pose2_to_pose3_retreat,0.619840378945,-0.00981809100345,1.06002045514,0.590411523607,-0.00114385695119,1.05969216154
+296,4.933333333,pose2_to_pose3_retreat,0.619583334056,-0.00981813657374,1.06002077705,0.590154479769,-0.00114389942266,1.05969247938
+297,4.950000000,pose2_to_pose3_retreat,0.619299513621,-0.00981812375074,1.06002081154,0.589870659421,-0.00114388693376,1.05969250607
+298,4.966666667,pose2_to_pose3_retreat,0.618990750474,-0.00981824791498,1.06002072821,0.589561896911,-0.00114400935197,1.05969242113
+299,4.983333333,pose2_to_pose3_retreat,0.618656195244,-0.00981816891916,1.06002058612,0.589227340416,-0.00114393466105,1.05969228804
+300,5.000000000,pose2_to_pose3_retreat,0.618300981411,-0.00981816009526,1.06002038722,0.588872126668,-0.0011439256192,1.05969209785
+301,5.016666667,pose2_to_pose3_retreat,0.617926097157,-0.00981825927051,1.06002032504,0.588497243993,-0.00114401996788,1.05969203349
+302,5.033333333,pose2_to_pose3_retreat,0.617533694164,-0.00981830251791,1.06002045354,0.588104841925,-0.00114406072243,1.0596921557
+303,5.050000000,pose2_to_pose3_retreat,0.61712407074,-0.00981827902232,1.06002053765,0.587695218423,-0.00114403766233,1.05969224396
+304,5.066666667,pose2_to_pose3_retreat,0.61670178277,-0.00981815617213,1.06002065589,0.587272929175,-0.00114391985495,1.05969235793
+305,5.083333333,pose2_to_pose3_retreat,0.616265963616,-0.00981816439585,1.06002055046,0.586837111237,-0.00114392415546,1.05969225659
+306,5.100000000,pose2_to_pose3_retreat,0.61581262114,-0.00981817015082,1.06002053421,0.586383769209,-0.00114392901868,1.05969223862
+307,5.116666667,pose2_to_pose3_retreat,0.615336011292,-0.00981819954943,1.06002066638,0.585907159227,-0.00114395945371,1.05969236805
+308,5.133333333,pose2_to_pose3_retreat,0.614831636118,-0.00981827611194,1.06002069692,0.585402784238,-0.00114403578132,1.05969239892
+309,5.150000000,pose2_to_pose3_retreat,0.614298665908,-0.00981833232042,1.06002052727,0.584869814696,-0.00114409005058,1.05969223278
+310,5.166666667,pose2_to_pose3_retreat,0.613741048155,-0.00981824026894,1.06002051124,0.584312196799,-0.00114399894232,1.05969221841
+311,5.183333333,pose2_to_pose3_retreat,0.613168839207,-0.00981829567243,1.06002040363,0.583739988155,-0.00114405375313,1.05969211105
+312,5.200000000,pose2_to_pose3_retreat,0.612588746082,-0.0098184015977,1.06002050262,0.583159896476,-0.0011441547807,1.05969220992
+313,5.216666667,pose2_to_pose3_retreat,0.612000894641,-0.00981816824655,1.06002050547,0.582572041896,-0.00114393204438,1.05969221399
+314,5.233333333,pose2_to_pose3_retreat,0.611402579708,-0.00981812372795,1.06002046041,0.581973727233,-0.00114388674057,1.05969216535
+315,5.250000000,pose2_to_pose3_retreat,0.610791550782,-0.00981816123169,1.06002045261,0.581362699161,-0.00114392136371,1.05969215705
+316,5.266666667,pose2_to_pose3_retreat,0.610159243724,-0.00981813788103,1.06002053006,0.580730390894,-0.00114390191859,1.0596922394
+317,5.283333333,pose2_to_pose3_retreat,0.609506467391,-0.00981823242375,1.06002063463,0.580077615526,-0.00114399328032,1.05969234015
+318,5.300000000,pose2_to_pose3_retreat,0.608829479463,-0.00981826584787,1.06002039634,0.579400629249,-0.00114402086237,1.05969210877
+319,5.316666667,pose2_to_pose3_retreat,0.608127139499,-0.00981820323087,1.06002031225,0.578698288563,-0.00114396091999,1.05969201874
+320,5.333333333,pose2_to_pose3_retreat,0.607397308121,-0.0098182354589,1.06002036404,0.577968456363,-0.00114399590524,1.05969207132
+321,5.350000000,pose2_to_pose3_retreat,0.606653561587,-0.00981818025117,1.06002040386,0.577224708859,-0.00114394401027,1.05969211047
+322,5.366666667,pose2_to_pose3_retreat,0.605900825247,-0.00981814093807,1.06002058035,0.576471972642,-0.00114390439867,1.05969228379
+323,5.383333333,pose2_to_pose3_retreat,0.605146686851,-0.00981820819048,1.06002078306,0.575717835539,-0.00114396729233,1.05969248564
+324,5.400000000,pose2_to_pose3_retreat,0.604396229937,-0.00981828642685,1.06002074699,0.574967379413,-0.00114404273103,1.05969245281
+325,5.416666667,pose2_to_pose3_retreat,0.603652386275,-0.00981828092287,1.0600206107,0.574223534901,-0.00114403994992,1.05969232075
+326,5.433333333,pose2_to_pose3_retreat,0.602897163261,-0.00981824875061,1.06002030347,0.573468311894,-0.00114400775603,1.05969201342
+327,5.450000000,pose2_to_pose3_retreat,0.602125374044,-0.00981815746278,1.06002056854,0.572696521055,-0.00114392208823,1.05969227534
+328,5.466666667,pose2_to_pose3_retreat,0.601330901059,-0.00981823672454,1.06002059569,0.571902048852,-0.00114399894041,1.059692296
+329,5.483333333,pose2_to_pose3_retreat,0.600519397048,-0.00981824273566,1.06002040502,0.571090544923,-0.00114400456557,1.05969210805
+330,5.500000000,pose2_to_pose3_retreat,0.599709667111,-0.00981821441494,1.06002046104,0.570280814256,-0.00114397873078,1.05969216372
+331,5.516666667,pose2_to_pose3_retreat,0.598911081866,-0.00981822420918,1.06002063441,0.569482228538,-0.00114399028618,1.05969233297
+332,5.533333333,pose2_to_pose3_retreat,0.598127436907,-0.00981823086986,1.0600205454,0.568698583822,-0.00114399598541,1.05969224754
+333,5.550000000,pose2_to_pose3_retreat,0.597360399119,-0.00981826975105,1.06002054223,0.567931547987,-0.00114402820124,1.05969224539
+334,5.566666667,pose2_to_pose3_retreat,0.596602979574,-0.00981810628209,1.06002057587,0.567174125975,-0.00114387334477,1.05969227254
+335,5.583333333,pose2_to_pose3_retreat,0.595834500932,-0.00981825823986,1.06002066093,0.566405648595,-0.00114402101048,1.05969235783
+336,5.600000000,pose2_to_pose3_retreat,0.595051111792,-0.00981822940991,1.06002065261,0.565622258989,-0.00114399343837,1.05969235802
+337,5.616666667,pose2_to_pose3_retreat,0.594244357569,-0.0098181603226,1.06002059082,0.564815504745,-0.00114392444128,1.05969229571
+338,5.633333333,pose2_to_pose3_retreat,0.593445459858,-0.00981821352269,1.06002060119,0.564016608396,-0.00114397314277,1.05969230275
+339,5.650000000,pose2_to_pose3_retreat,0.592669915814,-0.00981824554631,1.06002057852,0.563241064061,-0.0011440061107,1.05969228122
+340,5.666666667,pose2_to_pose3_retreat,0.591922210477,-0.00981818201229,1.06002046745,0.562493356576,-0.00114394986105,1.05969217013
+341,5.683333333,pose2_to_pose3_retreat,0.591203764248,-0.00981832542704,1.0600206359,0.561774912362,-0.00114408627094,1.05969234309
+342,5.700000000,pose2_to_pose3_retreat,0.590510716708,-0.00981815950651,1.06002052441,0.561081863598,-0.00114392440168,1.05969223417
+343,5.716666667,pose2_to_pose3_retreat,0.5898224931,-0.00981823069287,1.0600205008,0.560393641466,-0.00114399052585,1.05969221201
+344,5.733333333,pose2_to_pose3_retreat,0.589129315329,-0.00981829486417,1.06002043595,0.559700464815,-0.0011440509236,1.05969214648
+345,5.750000000,pose2_to_pose3_retreat,0.588427510484,-0.00981825535255,1.0600204596,0.558998658938,-0.0011440150802,1.05969216579
+346,5.766666667,pose2_to_pose3_retreat,0.587718830837,-0.00981818482467,1.06002062524,0.558289977961,-0.00114394916785,1.05969232854
+347,5.783333333,pose2_to_pose3_retreat,0.587037252777,-0.00981819284565,1.06002069359,0.557608400236,-0.00114395588537,1.05969240135
+348,5.800000000,pose2_to_pose3_retreat,0.586382813746,-0.00981822375284,1.06002049734,0.556953961051,-0.00114398711018,1.05969221051
+349,5.816666667,pose2_to_pose3_retreat,0.5857615445,-0.00981825155981,1.06002051274,0.556332693189,-0.00114401038627,1.0596922215
+350,5.833333333,pose2_to_pose3_retreat,0.585171708114,-0.00981820240913,1.0600207691,0.555742856141,-0.00114396396233,1.05969246522
+351,5.850000000,pose2_to_pose3_retreat,0.584611155433,-0.00981820326834,1.06002080402,0.555182303194,-0.00114396567865,1.05969250128
+352,5.866666667,pose2_to_pose3_retreat,0.584056890879,-0.0098182534734,1.06002066445,0.554628040648,-0.00114400895366,1.05969236488
+353,5.883333333,pose2_to_pose3_retreat,0.583506285877,-0.00981821961444,1.06002052148,0.554077435171,-0.00114397645604,1.05969222849
+354,5.900000000,pose2_to_pose3_retreat,0.582960092536,-0.00981814619511,1.06002049241,0.553531238773,-0.00114391314161,1.05969220644
+355,5.916666667,pose2_to_pose3_retreat,0.582426221378,-0.0098182707702,1.06002052165,0.552997369692,-0.00114403079942,1.05969223233
+356,5.933333333,pose2_to_pose3_retreat,0.581914631641,-0.00981826780143,1.06002065504,0.552485780843,-0.00114402498045,1.05969236139
+357,5.950000000,pose2_to_pose3_retreat,0.581432475581,-0.00981829131451,1.06002093413,0.552003622459,-0.00114405698967,1.05969262434
+358,5.966666667,pose2_to_pose3_retreat,0.580980604639,-0.00981819772552,1.06002070272,0.551551750982,-0.0011439647562,1.05969240514
+359,5.983333333,pose2_to_pose3_retreat,0.580549508556,-0.00981808258807,1.06002055274,0.55112065528,-0.0011438481298,1.05969226034
+360,6.000000000,pose2_to_pose3_retreat,0.580138104962,-0.00981812487135,1.06002042701,0.550709252778,-0.00114388649623,1.05969214019
+361,6.016666667,pose2_to_pose3_retreat,0.579751475742,-0.00981819108582,1.06002047716,0.550322624127,-0.00114395077417,1.05969219056
+362,6.033333333,pose2_to_pose3_retreat,0.579386878108,-0.00981821219357,1.06002059941,0.549958026708,-0.00114397132955,1.05969230811
+363,6.050000000,pose2_to_pose3_retreat,0.579044236691,-0.00981826741786,1.06002052117,0.54961538606,-0.00114402400816,1.05969222823
+364,6.066666667,pose2_to_pose3_retreat,0.578728183949,-0.00981829180969,1.06002054846,0.549299332174,-0.00114405252451,1.05969224899
+365,6.083333333,pose2_to_pose3_retreat,0.57843640652,-0.00981816829664,1.06002051761,0.549007553951,-0.00114393139801,1.0596922264
+366,6.100000000,pose2_to_pose3_retreat,0.578157392028,-0.00981809161208,1.06002053442,0.548728537243,-0.00114386237096,1.05969223948
+367,6.116666667,pose2_to_pose3_retreat,0.57789107782,-0.00981816793932,1.06002053027,0.548462223471,-0.00114393722119,1.05969223521
+368,6.133333333,pose2_to_pose3_retreat,0.57764072312,-0.00981822405894,1.06002053197,0.548211870101,-0.0011439888989,1.05969223521
+369,6.150000000,pose2_to_pose3_retreat,0.577404656136,-0.00981813079637,1.06002059565,0.547975802185,-0.00114389912043,1.05969229058
+370,6.166666667,pose2_to_pose3_retreat,0.577183545711,-0.00981815736952,1.0600206862,0.547754691672,-0.00114392578653,1.0596923866
+371,6.183333333,pose2_to_pose3_retreat,0.576982024793,-0.00981829996687,1.06002076105,0.547553175115,-0.00114405340101,1.05969246629
+372,6.200000000,pose2_to_pose3_retreat,0.576799176899,-0.00981836403298,1.06002042954,0.547370326171,-0.00114412096569,1.05969213654
+373,6.216666667,pose2_to_pose3_retreat,0.576634304612,-0.00981829685603,1.06002064435,0.547205453694,-0.00114405483011,1.05969234095
+374,6.233333333,pose2_to_pose3_retreat,0.576486610383,-0.0098182716359,1.06002074198,0.547057759153,-0.00114403035038,1.05969244685
+375,6.250000000,pose2_to_pose3_retreat,0.576356908908,-0.00981815314895,1.06002063038,0.546928056541,-0.00114391577817,1.05969233387
+376,6.266666667,pose2_to_pose3_retreat,0.576242457025,-0.0098181811749,1.06002054456,0.546813604588,-0.0011439440768,1.05969224712
+377,6.283333333,pose2_to_pose3_retreat,0.576142613972,-0.00981829580402,1.0600205382,0.546713762563,-0.00114405515871,1.05969224233
+378,6.300000000,pose2_to_pose3_retreat,0.576055416628,-0.00981831259375,1.06002057574,0.546626565479,-0.00114407120251,1.05969227646
+379,6.316666667,pose2_to_pose3_retreat,0.575979303752,-0.00981828520018,1.06002066863,0.546550451134,-0.00114404905736,1.05969236272
+380,6.333333333,pose2_to_pose3_retreat,0.575914122042,-0.00981832389199,1.0600204375,0.546485271139,-0.00114408172054,1.05969213716
+381,6.350000000,pose2_to_pose3_retreat,0.575858901666,-0.00981837928535,1.06002046201,0.546430051302,-0.00114413467861,1.05969217754
+382,6.366666667,pose2_to_pose3_retreat,0.575814016276,-0.00981830622911,1.06002056799,0.546385165781,-0.00114406279069,1.05969226443
+383,6.383333333,pose2_to_pose3_retreat,0.575777277104,-0.00981818055354,1.06002064046,0.546348423854,-0.00114394639546,1.05969233857
+384,6.400000000,pose2_to_pose3_retreat,0.575748242948,-0.00981814314241,1.06002065648,0.546319388821,-0.00114391172133,1.0596923609
+385,6.416666667,pose2_to_pose3_retreat,0.575725328899,-0.00981818627232,1.0600206844,0.546296475931,-0.00114395088786,1.05969238962
+386,6.433333333,pose2_to_pose3_retreat,0.575707293295,-0.0098182435446,1.06002074594,0.546278441204,-0.00114400528725,1.05969244851
+387,6.450000000,pose2_to_pose3_retreat,0.575693745576,-0.0098183467385,1.0600205893,0.546264894237,-0.00114410625821,1.0596922832
+388,6.466666667,pose2_to_pose3_retreat,0.575683862568,-0.00981816185174,1.06002044259,0.546255008917,-0.00114392888939,1.05969214508
+389,6.483333333,pose2_to_pose3_retreat,0.575677484425,-0.00981812727476,1.06002041867,0.546248631567,-0.00114389161578,1.05969212143
+390,6.500000000,pose2_to_pose3_retreat,0.57567337037,-0.00981814252036,1.06002048539,0.546244518088,-0.00114390488981,1.05969218853
+391,6.516666667,pose2_to_pose3_retreat,0.57567094475,-0.00981816074856,1.06002060891,0.546242091805,-0.00114392523775,1.05969231531
+392,6.533333333,pose2_to_pose3_retreat,0.575669517822,-0.00981824536951,1.06002061154,0.546240665693,-0.00114400719637,1.0596923153
+393,6.550000000,pose2_to_pose3_retreat,0.575668649783,-0.00981833543443,1.06002057656,0.546239798778,-0.00114409360036,1.05969227635
+394,6.566666667,pose2_to_pose3_retreat,0.575668169578,-0.00981838071417,1.06002056419,0.546239319147,-0.00114413701235,1.05969226195
+395,6.583333333,pose2_to_pose3_retreat,0.575667926479,-0.00981836492227,1.06002061733,0.546239075926,-0.00114412161646,1.05969231554
+396,6.600000000,pose2_to_pose3_retreat,0.575667876753,-0.00981836169206,1.0600206282,0.546239026175,-0.00114411846724,1.0596923265
+397,6.616666667,pose2_to_pose3_retreat,0.575667821144,-0.00981835807968,1.06002064035,0.546238970538,-0.00114411494545,1.05969233875
+398,6.633333333,pose2_to_pose3_retreat,0.575667742155,-0.00981835294853,1.06002065762,0.54623889151,-0.00114410994297,1.05969235616
+399,6.650000000,pose2_to_pose3_retreat,0.575667646846,-0.00981834675717,1.06002067845,0.546238796153,-0.00114410390688,1.05969237717
+400,6.666666667,pose2_to_pose3_retreat,0.575667601019,-0.00981834378025,1.06002068847,0.546238750303,-0.00114410100461,1.05969238727
+401,6.683333333,pose2_to_pose3_retreat,0.575667526876,-0.00981833896389,1.06002070468,0.546238676123,-0.00114409630903,1.05969240362
+402,6.700000000,pose2_to_pose3_retreat,0.575667471466,-0.00981833536442,1.06002071679,0.546238620686,-0.00114409279982,1.05969241583
+403,6.716666667,pose2_to_pose3_retreat,0.575667424503,-0.00981833231369,1.06002072706,0.546238573699,-0.00114408982559,1.05969242618
+404,6.733333333,pose2_to_pose3_retreat,0.575667400718,-0.00981833076856,1.06002073226,0.546238549902,-0.00114408831921,1.05969243142
+405,6.750000000,pose2_to_pose3_retreat,0.575667346551,-0.00981832724985,1.0600207441,0.546238495708,-0.00114408488874,1.05969244336
+406,6.766666667,pose2_to_pose3_retreat,0.575667252991,-0.00981832117215,1.06002076455,0.546238402101,-0.00114407896345,1.05969246399
+407,6.783333333,pose2_to_pose3_retreat,0.575667165572,-0.00981831549339,1.06002078366,0.546238314639,-0.00114407342709,1.05969248325
+408,6.800000000,pose2_to_pose3_retreat,0.57566711302,-0.00981830917984,1.06002078142,0.546238262013,-0.00114406735835,1.05969248111
+409,6.816666667,pose2_to_pose3_retreat,0.575667085773,-0.00981830041999,1.06002075428,0.546238234639,-0.00114405902664,1.05969245401
+410,6.833333333,pose2_to_pose3_retreat,0.575667056677,-0.00981829106597,1.0600207253,0.546238205409,-0.00114405012981,1.05969242508
+411,6.850000000,pose2_to_pose3_retreat,0.575666978979,-0.00981826608644,1.06002064791,0.546238127349,-0.00114402637117,1.05969234783
+412,6.866666667,pose2_to_pose3_retreat,0.575666882144,-0.00981824283778,1.06002055667,0.546238030223,-0.00114400410524,1.05969225675
+413,6.883333333,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.0011441293177,1.05969225353

Obstacle_avoidance/cylinder_15A_10/position_08/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcd1cde84ff01b64f096483b8915783a33e58d25943e49feaa3e9d89c52d05fc
+size 25848152

Obstacle_avoidance/cylinder_15A_10/position_08/depth_01/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,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+1,0.016666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+2,0.033333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+3,0.050000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+4,0.066666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+5,0.083333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+6,0.100000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+7,0.116666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+8,0.133333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+9,0.150000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+10,0.166666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+11,0.183333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+12,0.200000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+13,0.216666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+14,0.233333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+15,0.250000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+16,0.266666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+17,0.283333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+18,0.300000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+19,0.316666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+20,0.333333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+21,0.350000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+22,0.366666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+23,0.383333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+24,0.400000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+25,0.416666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+26,0.433333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+27,0.450000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+28,0.466666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+29,0.483333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+30,0.500000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+31,0.516666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+32,0.533333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+33,0.550000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+34,0.566666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+35,0.583333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+36,0.600000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+37,0.616666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+38,0.633333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+39,0.650000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+40,0.666666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+41,0.683333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+42,0.700000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+43,0.716666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+44,0.733333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+45,0.750000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+46,0.766666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+47,0.783333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+48,0.800000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+49,0.816666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+50,0.833333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+51,0.850000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+52,0.866666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+53,0.883333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+54,0.900000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+55,0.916666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+56,0.933333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+57,0.950000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+58,0.966666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+59,0.983333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+60,1.000000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+61,1.016666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+62,1.033333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+63,1.050000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+64,1.066666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+65,1.083333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+66,1.100000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+67,1.116666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+68,1.133333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+69,1.150000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+70,1.166666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+71,1.183333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+72,1.200000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+73,1.216666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+74,1.233333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+75,1.250000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+76,1.266666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+77,1.283333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+78,1.300000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+79,1.316666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+80,1.333333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+81,1.350000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+82,1.366666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+83,1.383333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+84,1.400000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+85,1.416666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+86,1.433333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+87,1.450000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+88,1.466666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+89,1.483333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+90,1.500000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+91,1.516666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+92,1.533333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+93,1.550000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+94,1.566666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+95,1.583333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+96,1.600000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+97,1.616666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+98,1.633333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+99,1.650000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+100,1.666666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+101,1.683333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+102,1.700000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+103,1.716666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+104,1.733333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+105,1.750000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+106,1.766666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+107,1.783333333,pose1_to_pose2_press,0.575666768205,-0.00981824323672,1.07002034654,0.546237914814,-0.00114400883609,1.06969206393
+108,1.800000000,pose1_to_pose2_press,0.575666794576,-0.00981821180526,1.07002041454,0.546237941364,-0.00114397694398,1.06969212806
+109,1.816666667,pose1_to_pose2_press,0.575666815854,-0.00981818644551,1.0700204694,0.546237962786,-0.00114395121257,1.0696921798
+110,1.833333333,pose1_to_pose2_press,0.575666840551,-0.00981817370339,1.07002050359,0.546237987592,-0.00114393817049,1.06969221221
+111,1.850000000,pose1_to_pose2_press,0.575666951091,-0.00981818928177,1.07002052832,0.546238098358,-0.00114395297812,1.06969223706
+112,1.866666667,pose1_to_pose2_press,0.575667148805,-0.00981821714553,1.07002057254,0.546238296475,-0.00114397946331,1.0696922815
+113,1.883333333,pose1_to_pose2_press,0.575667351262,-0.0098182456778,1.07002061782,0.546238499346,-0.00114400658394,1.069692327
+114,1.900000000,pose1_to_pose2_press,0.575667459386,-0.00981825305582,1.07002061994,0.546238607581,-0.00114401357452,1.06969232933
+115,1.916666667,pose1_to_pose2_press,0.575667648784,-0.00981825733957,1.07002059937,0.546238797055,-0.00114401758243,1.06969230926
+116,1.933333333,pose1_to_pose2_press,0.57566959533,-0.00981825178312,1.07002049613,0.546240743434,-0.00114401259136,1.06969220602
+117,1.950000000,pose1_to_pose2_press,0.575674535801,-0.00981821715544,1.07002059204,0.546245682468,-0.00114398306544,1.06969229595
+118,1.966666667,pose1_to_pose2_press,0.575685705101,-0.00981824848007,1.07002029415,0.5462568518,-0.00114401429666,1.06969199794
+119,1.983333333,pose1_to_pose2_press,0.575704658264,-0.00981839432226,1.07002052509,0.546275808059,-0.00114414966832,1.06969222754
+120,2.000000000,pose1_to_pose2_press,0.575734139586,-0.0098182656379,1.07002063727,0.546305287481,-0.00114402754723,1.06969233661
+121,2.016666667,pose1_to_pose2_press,0.575774753735,-0.00981819652463,1.0700203472,0.546345901458,-0.00114395830909,1.06969206512
+122,2.033333333,pose1_to_pose2_press,0.575827736767,-0.00981827146862,1.07002035289,0.546398885443,-0.00114403043814,1.06969205971
+123,2.050000000,pose1_to_pose2_press,0.575891375099,-0.00981824579975,1.07002027958,0.546462522424,-0.00114400940344,1.06969198502
+124,2.066666667,pose1_to_pose2_press,0.575965382511,-0.00981824910956,1.07002044581,0.546536529819,-0.00114401289237,1.06969214803
+125,2.083333333,pose1_to_pose2_press,0.576049483083,-0.00981824087936,1.07002060129,0.546620630449,-0.00114400439247,1.06969230523
+126,2.100000000,pose1_to_pose2_press,0.576143229507,-0.00981815476306,1.07002055485,0.546714376269,-0.00114392021945,1.06969226161
+127,2.116666667,pose1_to_pose2_press,0.576247951164,-0.00981816489026,1.0700206802,0.546819097392,-0.00114393239573,1.06969238066
+128,2.133333333,pose1_to_pose2_press,0.576363161823,-0.00981819036198,1.07002059582,0.546934308423,-0.00114395659193,1.06969229667
+129,2.150000000,pose1_to_pose2_press,0.576489234806,-0.00981821909776,1.07002048699,0.547060383086,-0.00114397945603,1.06969219233
+130,2.166666667,pose1_to_pose2_press,0.576628191722,-0.00981832276003,1.07002061626,0.54719934158,-0.00114407784166,1.0696923195
+131,2.183333333,pose1_to_pose2_press,0.576779878701,-0.00981837020071,1.07002051038,0.547351027322,-0.00114412951339,1.06969221268
+132,2.200000000,pose1_to_pose2_press,0.576947392445,-0.00981821217917,1.07002043616,0.547518539741,-0.00114397620968,1.06969213255
+133,2.216666667,pose1_to_pose2_press,0.577132390026,-0.00981807052575,1.07002059395,0.54770353545,-0.001143840423,1.06969230303
+134,2.233333333,pose1_to_pose2_press,0.577338292024,-0.00981815277179,1.07002043855,0.54790943817,-0.00114392025987,1.06969214653
+135,2.250000000,pose1_to_pose2_press,0.577564957157,-0.00981827333922,1.07002056321,0.548136104502,-0.00114403691927,1.06969226689
+136,2.266666667,pose1_to_pose2_press,0.57781265762,-0.00981827685091,1.07002049704,0.54838380609,-0.00114403653844,1.06969220277
+137,2.283333333,pose1_to_pose2_press,0.578082497703,-0.00981832730676,1.07002047397,0.548653646246,-0.00114408684815,1.06969217688
+138,2.300000000,pose1_to_pose2_press,0.578372125405,-0.00981834283748,1.07002059858,0.548943274036,-0.00114410224376,1.06969229713
+139,2.316666667,pose1_to_pose2_press,0.578680013606,-0.00981827832165,1.07002066296,0.549251162293,-0.00114403750361,1.06969236243
+140,2.333333333,pose1_to_pose2_press,0.579004958145,-0.00981827481091,1.07002065511,0.5495761058,-0.0011440374289,1.06969235622
+141,2.350000000,pose1_to_pose2_press,0.579348050579,-0.00981820897291,1.07002061632,0.549919198135,-0.00114397174585,1.06969232215
+142,2.366666667,pose1_to_pose2_press,0.57970742088,-0.009818163952,1.07002051045,0.550278568592,-0.00114392610389,1.0696922187
+143,2.383333333,pose1_to_pose2_press,0.580084087248,-0.00981826879304,1.07002050448,0.550655235238,-0.00114403004468,1.06969221154
+144,2.400000000,pose1_to_pose2_press,0.580479915937,-0.00981825032589,1.07002051895,0.55105106371,-0.00114401242567,1.06969222297
+145,2.416666667,pose1_to_pose2_press,0.580897030033,-0.00981808401075,1.07002061732,0.551468175904,-0.00114385265936,1.06969231885
+146,2.433333333,pose1_to_pose2_press,0.581340915429,-0.00981820203614,1.07002067344,0.551912063085,-0.0011439647268,1.06969237226
+147,2.450000000,pose1_to_pose2_press,0.581811504545,-0.00981817485627,1.07002071677,0.552382652332,-0.00114393690628,1.06969242081
+148,2.466666667,pose1_to_pose2_press,0.582309864209,-0.00981816892934,1.07002051491,0.552881011523,-0.00114393227641,1.069692227
+149,2.483333333,pose1_to_pose2_press,0.582827127171,-0.00981826150999,1.07002038177,0.553398274792,-0.0011440238092,1.06969209407
+150,2.500000000,pose1_to_pose2_press,0.583358665039,-0.00981816403471,1.07002058054,0.553929811433,-0.00114393053582,1.06969229168
+151,2.516666667,pose1_to_pose2_press,0.583899288233,-0.0098182037744,1.07002044617,0.554470435169,-0.0011439682177,1.06969216312
+152,2.533333333,pose1_to_pose2_press,0.584449586046,-0.0098182799439,1.07002038777,0.555020733885,-0.00114404150144,1.06969209999
+153,2.550000000,pose1_to_pose2_press,0.585012822398,-0.00981827897736,1.07002067266,0.555583970149,-0.00114404148506,1.06969236769
+154,2.566666667,pose1_to_pose2_press,0.585596727243,-0.00981823723657,1.07002063191,0.556167874625,-0.00114400058076,1.06969233791
+155,2.583333333,pose1_to_pose2_press,0.586201866564,-0.00981812151267,1.07002056827,0.556773013065,-0.00114388800429,1.0696922701
+156,2.600000000,pose1_to_pose2_press,0.586822327594,-0.00981815838479,1.07002049677,0.557393475277,-0.00114392050583,1.06969220815
+157,2.616666667,pose1_to_pose2_press,0.587457707639,-0.00981819722921,1.07002060011,0.55802885574,-0.00114395827619,1.06969230237
+158,2.633333333,pose1_to_pose2_press,0.588116256146,-0.00981815844201,1.07002062389,0.558687403224,-0.00114392317544,1.06969232049
+159,2.650000000,pose1_to_pose2_press,0.588789668046,-0.00981811160238,1.07002062084,0.559360813992,-0.00114387997253,1.06969232278
+160,2.666666667,pose1_to_pose2_press,0.589473992681,-0.00981817227228,1.07002075184,0.560045139147,-0.00114393897676,1.06969245117
+161,2.683333333,pose1_to_pose2_press,0.590170127058,-0.00981831663028,1.07002060489,0.560741275494,-0.00114407632392,1.06969231291
+162,2.700000000,pose1_to_pose2_press,0.590873679792,-0.00981822298,1.07002057371,0.561444825418,-0.00114399247068,1.0696922748
+163,2.716666667,pose1_to_pose2_press,0.59158296461,-0.00981821734109,1.07002092203,0.562154112287,-0.00114398013858,1.06969261615
+164,2.733333333,pose1_to_pose2_press,0.59229747148,-0.00981819109577,1.07002034991,0.562868618334,-0.00114395637767,1.06969205216
+165,2.750000000,pose1_to_pose2_press,0.593014159548,-0.00981832147526,1.07002036343,0.563585307927,-0.00114408137267,1.06969207129
+166,2.766666667,pose1_to_pose2_press,0.593735677318,-0.00981818908455,1.07002068614,0.564306824089,-0.00114395485904,1.06969238294
+167,2.783333333,pose1_to_pose2_press,0.594460600118,-0.00981824681405,1.07002070624,0.565031748325,-0.00114400751951,1.06969240825
+168,2.800000000,pose1_to_pose2_press,0.595180114014,-0.00981824520736,1.07002046054,0.565751261574,-0.00114400785823,1.06969216914
+169,2.816666667,pose1_to_pose2_press,0.595900670029,-0.00981815857538,1.07002034567,0.566471816267,-0.0011439257335,1.06969205381
+170,2.833333333,pose1_to_pose2_press,0.596634013894,-0.00981822228126,1.07002047803,0.567205163091,-0.00114397935152,1.06969218747
+171,2.850000000,pose1_to_pose2_press,0.597380888741,-0.00981817794099,1.07002042499,0.56795203657,-0.00114393987515,1.06969212861
+172,2.866666667,pose1_to_pose2_press,0.598142368035,-0.00981823597857,1.0700205259,0.56871351529,-0.00114399978793,1.06969223145
+173,2.883333333,pose1_to_pose2_press,0.598902827954,-0.00981806112175,1.07002065396,0.569473975118,-0.00114382530331,1.06969235785
+174,2.900000000,pose1_to_pose2_press,0.599656871446,-0.00981819150411,1.07002063278,0.570228018764,-0.00114395507172,1.06969233917
+175,2.916666667,pose1_to_pose2_press,0.600388303323,-0.00981815041678,1.07002062737,0.570959451321,-0.00114391165086,1.06969233452
+176,2.933333333,pose1_to_pose2_press,0.601102441872,-0.00981823108317,1.07002041213,0.571673590007,-0.00114399206364,1.0696921138
+177,2.950000000,pose1_to_pose2_press,0.60181016731,-0.00981825006696,1.07002051675,0.572381314513,-0.00114401431647,1.06969221559
+178,2.966666667,pose1_to_pose2_press,0.602517202715,-0.0098182140497,1.07002072403,0.573088349101,-0.00114398109902,1.06969242222
+179,2.983333333,pose1_to_pose2_press,0.603223878492,-0.0098181692905,1.07002059294,0.573795025114,-0.00114393533893,1.0696922965
+180,3.000000000,pose1_to_pose2_press,0.603935821843,-0.0098181317395,1.07002033962,0.574506969126,-0.00114389533956,1.06969204866
+181,3.016666667,pose1_to_pose2_press,0.604644616011,-0.00981816043803,1.07002052621,0.575215763603,-0.00114392338669,1.06969222485
+182,3.033333333,pose1_to_pose2_press,0.605329902863,-0.00981821411075,1.07002037517,0.575901051629,-0.00114397273712,1.06969208277
+183,3.050000000,pose1_to_pose2_press,0.60598736481,-0.00981824780356,1.07002026576,0.576558513514,-0.00114400653435,1.06969197626
+184,3.066666667,pose1_to_pose2_press,0.60660885411,-0.00981814819419,1.07002059602,0.57718000268,-0.0011439074865,1.06969230377
+185,3.083333333,pose1_to_pose2_press,0.607206760527,-0.00981826744424,1.07002036586,0.577777910294,-0.00114402270352,1.06969207293
+186,3.100000000,pose1_to_pose2_press,0.60778502621,-0.00981819903647,1.07002046737,0.578356173159,-0.00114396377842,1.06969217651
+187,3.116666667,pose1_to_pose2_press,0.608357781784,-0.009818138192,1.07002058033,0.578928927389,-0.0011439075732,1.06969228749
+188,3.133333333,pose1_to_pose2_press,0.608931882894,-0.00981818311609,1.07002053433,0.579503030257,-0.00114394680639,1.06969223437
+189,3.150000000,pose1_to_pose2_press,0.609508254375,-0.00981821414069,1.07002057395,0.580079402171,-0.0011439764507,1.06969227162
+190,3.166666667,pose1_to_pose2_press,0.610075564773,-0.00981828487164,1.07002060644,0.580646712545,-0.00114404684462,1.06969231517
+191,3.183333333,pose1_to_pose2_press,0.61062826544,-0.00981821421905,1.07002050226,0.581199411867,-0.00114398084394,1.06969220885
+192,3.200000000,pose1_to_pose2_press,0.611153293372,-0.00981820916244,1.07002055246,0.581724440422,-0.00114397397259,1.0696922511
+193,3.216666667,pose1_to_pose2_press,0.611651378829,-0.00981820695897,1.07002031622,0.582222526125,-0.00114397067657,1.06969202172
+194,3.233333333,pose1_to_pose2_press,0.612123440631,-0.00981825764593,1.07002064684,0.582694589593,-0.00114401603682,1.0696923438
+195,3.250000000,pose1_to_pose2_press,0.612570364003,-0.00981816234363,1.07002057049,0.583141511476,-0.00114392563841,1.06969227158
+196,3.266666667,pose1_to_pose2_press,0.612990584332,-0.00981809540058,1.07002049609,0.583561730962,-0.00114386135875,1.0696922019
+197,3.283333333,pose1_to_pose2_press,0.613393586072,-0.00981815088675,1.07002064197,0.583964733806,-0.00114391330553,1.0696923401
+198,3.300000000,pose1_to_pose2_press,0.613782880507,-0.00981821681218,1.07002057366,0.584354027954,-0.00114398041847,1.06969226119
+199,3.316666667,pose1_to_pose2_press,0.614162831734,-0.00981821162293,1.07002022718,0.58473397829,-0.00114397684284,1.06969194457
+200,3.333333333,pose1_to_pose2_press,0.614535150307,-0.00981821904999,1.07002035029,0.585106299211,-0.00114397612175,1.06969206342
+201,3.350000000,pose1_to_pose2_press,0.614894767995,-0.00981811198588,1.07002046799,0.58546591469,-0.00114387624105,1.06969217969
+202,3.366666667,pose1_to_pose2_press,0.615233384746,-0.00981820821688,1.07002046819,0.585804531757,-0.0011439709082,1.06969218454
+203,3.383333333,pose1_to_pose2_press,0.615544048637,-0.00981805178865,1.07002062078,0.58611519316,-0.00114382314636,1.06969232169
+204,3.400000000,pose1_to_pose2_press,0.615825131961,-0.00981821616249,1.07002074007,0.586396279687,-0.00114397647911,1.06969243782
+205,3.416666667,pose1_to_pose2_press,0.616076536627,-0.00981828083415,1.07002071916,0.586647686055,-0.00114403492847,1.06969242224
+206,3.433333333,pose1_to_pose2_press,0.616306793875,-0.00981809848867,1.07002061519,0.586877940683,-0.00114386117952,1.06969231961
+207,3.450000000,pose1_to_pose2_press,0.6165208567,-0.0098181177119,1.07002054533,0.587092003067,-0.00114388182903,1.06969224589
+208,3.466666667,pose1_to_pose2_press,0.616722321945,-0.009818288171,1.07002062616,0.587293469711,-0.00114404714314,1.06969233192
+209,3.483333333,pose1_to_pose2_press,0.616913507361,-0.00981836525809,1.07002054181,0.587484654964,-0.00114412449386,1.06969225002
+210,3.500000000,pose1_to_pose2_press,0.61709396954,-0.0098181998233,1.07002042386,0.587665115872,-0.0011439631001,1.06969213348
+211,3.516666667,pose1_to_pose2_press,0.617260616695,-0.00981819764756,1.07002052542,0.587831764504,-0.00114395588115,1.06969223206
+212,3.533333333,pose1_to_pose2_press,0.617413020176,-0.0098182555794,1.07002071899,0.587984169184,-0.00114400983328,1.06969241954
+213,3.550000000,pose1_to_pose2_press,0.6175474682,-0.00981830457563,1.07002071411,0.588118616697,-0.00114406050216,1.06969241142
+214,3.566666667,pose1_to_pose2_press,0.617665789626,-0.00981838759885,1.07002055188,0.588236938027,-0.00114414362153,1.0696922508
+215,3.583333333,pose1_to_pose2_press,0.617767867628,-0.00981818685715,1.07002054228,0.5883390147,-0.0011439472032,1.06969224356
+216,3.600000000,pose1_to_pose2_press,0.617855890464,-0.00981821824182,1.07002051165,0.588427037101,-0.00114397969307,1.06969221995
+217,3.616666667,pose1_to_pose2_press,0.617930853792,-0.00981814898868,1.07002058706,0.588502000228,-0.00114391118847,1.06969229591
+218,3.633333333,pose1_to_pose2_press,0.617996660302,-0.00981817512514,1.07002056617,0.588567807465,-0.00114393491544,1.069692273
+219,3.650000000,pose1_to_pose2_press,0.618054767672,-0.00981824535353,1.070020565,0.588625915483,-0.00114400293042,1.06969226964
+220,3.666666667,pose1_to_pose2_press,0.618106077866,-0.00981827555105,1.07002064496,0.588677225358,-0.00114403402869,1.06969234921
+221,3.683333333,pose1_to_pose2_press,0.6181506771,-0.00981821378545,1.07002062734,0.58872182347,-0.00114397549135,1.06969233403
+222,3.700000000,pose1_to_pose2_press,0.618187926132,-0.00981819344032,1.07002042138,0.588759071853,-0.00114395733801,1.06969212744
+223,3.716666667,pose1_to_pose2_press,0.618218543831,-0.00981821710174,1.0700204868,0.588789689895,-0.00114397973049,1.06969219442
+224,3.733333333,pose1_to_pose2_press,0.618242466382,-0.00981823135717,1.07002051809,0.588813613553,-0.00114399056134,1.06969222351
+225,3.750000000,pose1_to_pose2_press,0.618260527581,-0.00981819567209,1.07002057693,0.588831675182,-0.00114395341745,1.06969228319
+226,3.766666667,pose1_to_pose2_press,0.618273852538,-0.00981815324929,1.07002056968,0.588844999588,-0.00114391269407,1.06969227773
+227,3.783333333,pose1_to_pose2_press,0.618283036274,-0.00981814780238,1.07002041124,0.588854182116,-0.00114391139402,1.06969211828
+228,3.800000000,pose1_to_pose2_press,0.618289760558,-0.009818202817,1.07002056827,0.588860906108,-0.00114396770668,1.06969226855
+229,3.816666667,pose1_to_pose2_press,0.618294529654,-0.00981823891175,1.07002067149,0.588865675622,-0.00114400250865,1.06969236886
+230,3.833333333,pose1_to_pose2_press,0.618297976219,-0.00981824420277,1.07002066141,0.588869123687,-0.0011440025355,1.0696923622
+231,3.850000000,pose1_to_pose2_press,0.618300432137,-0.00981824066574,1.0700206165,0.588871579793,-0.00114399834015,1.06969231796
+232,3.866666667,pose1_to_pose2_press,0.618301845385,-0.00981823486002,1.07002057119,0.588872992697,-0.00114399375139,1.06969227212
+233,3.883333333,pose1_to_pose2_press,0.618302653901,-0.00981823153858,1.07002054526,0.588873801016,-0.00114399112617,1.0696922459
+234,3.900000000,pose1_to_pose2_press,0.618303164776,-0.00981819311877,1.07002055923,0.588874310998,-0.0011439555732,1.06969226395
+235,3.916666667,pose1_to_pose2_press,0.618303332789,-0.00981818045065,1.07002056385,0.588874478718,-0.0011439438501,1.06969226992
+236,3.933333333,pose1_to_pose2_press,0.618303496492,-0.00981816810753,1.07002056836,0.588874642134,-0.00114393242776,1.06969227574
+237,3.950000000,pose1_to_pose2_press,0.618303671394,-0.00981815492003,1.07002057317,0.58887481673,-0.00114392022403,1.06969228195
+238,3.966666667,pose1_to_pose2_press,0.618303870329,-0.00981813992039,1.07002057864,0.588875015317,-0.00114390634334,1.06969228902
+239,3.983333333,pose1_to_pose2_press,0.618304015881,-0.00981812894583,1.07002058264,0.588875160615,-0.00114389618747,1.06969229419
+240,4.000000000,pose1_to_pose2_press,0.618304067789,-0.00981812503201,1.07002058407,0.588875212432,-0.00114389256561,1.06969229603
+241,4.016666667,pose1_to_pose2_press,0.618304531885,-0.00981810923623,1.0700205791,0.588875676092,-0.00114387812814,1.06969229415
+242,4.033333333,pose1_to_pose2_press,0.618304914653,-0.00981821177211,1.07002046824,0.588876060773,-0.00114397424686,1.06969218199
+243,4.050000000,pose1_to_pose2_press,0.618305253572,-0.00981829996109,1.0700203725,0.588876401295,-0.00114405706811,1.06969208495
+244,4.066666667,pose1_to_pose2_press,0.618305341263,-0.0098182935125,1.07002037493,0.588876488374,-0.00114405276744,1.0696920854
+245,4.083333333,pose1_to_pose2_press,0.618305429297,-0.00981829885941,1.07002037551,0.588876576376,-0.00114405823748,1.06969208555
+246,4.100000000,pose1_to_pose2_press,0.618305485146,-0.00981830523231,1.07002037541,0.588876632352,-0.00114406417606,1.06969208557
+247,4.116666667,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417568,1.06969208557
+248,4.133333333,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417602,1.06969208557
+249,4.150000000,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417594,1.06969208557
+250,4.166666667,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417579,1.06969208557
+251,4.183333333,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417603,1.06969208557
+252,4.200000000,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.001144064176,1.06969208557
+253,4.216666667,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417588,1.06969208557
+254,4.233333333,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417609,1.06969208557
+255,4.250000000,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417596,1.06969208557
+256,4.266666667,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.0011440641759,1.06969208557
+257,4.283333333,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417582,1.06969208557
+258,4.300000000,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417591,1.06969208557
+259,4.316666667,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417602,1.06969208557
+260,4.333333333,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417586,1.06969208557
+261,4.350000000,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417586,1.06969208557
+262,4.366666667,pose2_hold,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417598,1.06969208557
+263,4.383333333,pose2_to_pose3_retreat,0.618305485146,-0.00981830523231,1.07002037541,0.588876632353,-0.00114406417575,1.06969208557
+264,4.400000000,pose2_to_pose3_retreat,0.618305432335,-0.00981829989567,1.07002052245,0.588876580374,-0.00114405634657,1.06969222374
+265,4.416666667,pose2_to_pose3_retreat,0.618305298172,-0.0098182746241,1.07002059201,0.588876446371,-0.00114403062763,1.06969229087
+266,4.433333333,pose2_to_pose3_retreat,0.618305103183,-0.00981823696265,1.07002066892,0.588876251458,-0.00114399278426,1.06969236585
+267,4.450000000,pose2_to_pose3_retreat,0.618304957777,-0.00981823515602,1.07002065844,0.58887610599,-0.00114399116986,1.0696923558
+268,4.466666667,pose2_to_pose3_retreat,0.618304954507,-0.00981823530317,1.07002065772,0.588876102718,-0.00114399132368,1.06969235511
+269,4.483333333,pose2_to_pose3_retreat,0.618304672289,-0.00981824800333,1.07002059554,0.588875820307,-0.00114400459916,1.06969229492
+270,4.500000000,pose2_to_pose3_retreat,0.618303809301,-0.00981828683883,1.07002040539,0.588874956731,-0.00114404519394,1.06969211089
+271,4.516666667,pose2_to_pose3_retreat,0.618301785011,-0.00981813026397,1.07002060756,0.588872929866,-0.00114389760552,1.06969230653
+272,4.533333333,pose2_to_pose3_retreat,0.618296902643,-0.00981820148981,1.07002054283,0.588868048435,-0.00114396546488,1.06969224694
+273,4.550000000,pose2_to_pose3_retreat,0.618287915046,-0.00981820891055,1.07002049226,0.588859061206,-0.00114397147867,1.06969220263
+274,4.566666667,pose2_to_pose3_retreat,0.618270979349,-0.00981818664001,1.0700204501,0.588842126618,-0.00114394562026,1.06969215653
+275,4.583333333,pose2_to_pose3_retreat,0.618244914798,-0.00981827690987,1.07002057553,0.588816062358,-0.00114403493054,1.069692283
+276,4.600000000,pose2_to_pose3_retreat,0.618208171306,-0.0098181205169,1.07002066381,0.58877931711,-0.00114388457377,1.06969237245
+277,4.616666667,pose2_to_pose3_retreat,0.618161331877,-0.00981822237815,1.07002075197,0.588732479392,-0.00114398067896,1.06969245894
+278,4.633333333,pose2_to_pose3_retreat,0.61810424034,-0.00981839057822,1.070020434,0.588675388233,-0.00114414789832,1.0696921394
+279,4.650000000,pose2_to_pose3_retreat,0.61804044426,-0.00981812832972,1.07002047173,0.588611590169,-0.00114389206969,1.06969218351
+280,4.666666667,pose2_to_pose3_retreat,0.61797009045,-0.00981824120538,1.07002052413,0.588541238238,-0.00114399895445,1.06969222892
+281,4.683333333,pose2_to_pose3_retreat,0.617890897948,-0.00981820618213,1.07002045012,0.588462044105,-0.00114396948647,1.06969215431
+282,4.700000000,pose2_to_pose3_retreat,0.617802514939,-0.0098181421684,1.07002034719,0.588373660222,-0.00114390845814,1.06969205175
+283,4.716666667,pose2_to_pose3_retreat,0.617703056116,-0.009818191604,1.07002027764,0.588274202969,-0.00114395265167,1.06969198337
+284,4.733333333,pose2_to_pose3_retreat,0.617591245553,-0.00981832165227,1.07002027993,0.588162393777,-0.00114407791421,1.06969199266
+285,4.750000000,pose2_to_pose3_retreat,0.617465684689,-0.00981816446156,1.0700206128,0.588036830986,-0.00114392772254,1.06969231775
+286,4.766666667,pose2_to_pose3_retreat,0.617325582608,-0.00981820782349,1.07002079217,0.587896729949,-0.00114396744922,1.06969250279
+287,4.783333333,pose2_to_pose3_retreat,0.617170571742,-0.0098182491839,1.07002063704,0.587741719122,-0.00114400882111,1.06969234964
+288,4.800000000,pose2_to_pose3_retreat,0.616997313335,-0.00981825395482,1.07002044556,0.587568460825,-0.00114401357492,1.06969215507
+289,4.816666667,pose2_to_pose3_retreat,0.616807269644,-0.0098181975705,1.07002047099,0.587378417474,-0.00114395647619,1.06969217413
+290,4.833333333,pose2_to_pose3_retreat,0.616600781602,-0.00981811011573,1.0700206548,0.587171928975,-0.00114387095293,1.06969235235
+291,4.850000000,pose2_to_pose3_retreat,0.616377988776,-0.00981837063994,1.07002041408,0.586949138808,-0.00114412231146,1.06969211936
+292,4.866666667,pose2_to_pose3_retreat,0.616138510258,-0.00981829411921,1.0700206696,0.586709658355,-0.00114405267217,1.06969237461
+293,4.883333333,pose2_to_pose3_retreat,0.615885941069,-0.00981824406607,1.0700206673,0.586457088537,-0.00114400490395,1.06969237751
+294,4.900000000,pose2_to_pose3_retreat,0.615618796257,-0.00981822034767,1.0700206125,0.586189943581,-0.0011439819644,1.06969232281
+295,4.916666667,pose2_to_pose3_retreat,0.6153309824,-0.00981821483195,1.07002057463,0.585902129931,-0.00114397619034,1.06969227989
+296,4.933333333,pose2_to_pose3_retreat,0.615022804112,-0.00981824856033,1.07002037551,0.585593953439,-0.00114400400241,1.06969208498
+297,4.950000000,pose2_to_pose3_retreat,0.614692026819,-0.00981823519264,1.07002052592,0.585263174382,-0.00114399727671,1.06969222373
+298,4.966666667,pose2_to_pose3_retreat,0.614332527504,-0.009818220629,1.07002033668,0.584903674524,-0.00114398456632,1.06969204337
+299,4.983333333,pose2_to_pose3_retreat,0.613944936291,-0.00981816715627,1.07002030061,0.584516083628,-0.00114393009912,1.06969201631
+300,5.000000000,pose2_to_pose3_retreat,0.613536299012,-0.00981812445041,1.07002042139,0.584107446968,-0.00114388560908,1.06969213441
+301,5.016666667,pose2_to_pose3_retreat,0.613110934329,-0.00981816093995,1.07002052054,0.583682082529,-0.00114392157299,1.06969222636
+302,5.033333333,pose2_to_pose3_retreat,0.612672550188,-0.0098182588305,1.07002050164,0.583243697798,-0.00114402156328,1.06969220631
+303,5.050000000,pose2_to_pose3_retreat,0.61222451711,-0.00981825083131,1.07002043179,0.582795663318,-0.00114401857479,1.06969212985
+304,5.066666667,pose2_to_pose3_retreat,0.611765571683,-0.00981828376901,1.07002050306,0.582336719946,-0.0011440443057,1.06969220735
+305,5.083333333,pose2_to_pose3_retreat,0.611287324481,-0.00981827573034,1.07002061873,0.581858473212,-0.0011440348608,1.0696923182
+306,5.100000000,pose2_to_pose3_retreat,0.610788649701,-0.00981817063198,1.07002060435,0.581359797247,-0.00114393372617,1.06969230529
+307,5.116666667,pose2_to_pose3_retreat,0.610266577297,-0.00981814064967,1.07002062963,0.580837724556,-0.00114390454359,1.06969233515
+308,5.133333333,pose2_to_pose3_retreat,0.609724790908,-0.00981833010175,1.07002088547,0.580295940583,-0.00114408593745,1.06969258724
+309,5.150000000,pose2_to_pose3_retreat,0.609164852279,-0.00981822532398,1.07002078419,0.579735999905,-0.00114398810149,1.06969248556
+310,5.166666667,pose2_to_pose3_retreat,0.608585701941,-0.00981817438342,1.07002072026,0.579156847795,-0.00114394351618,1.06969241208
+311,5.183333333,pose2_to_pose3_retreat,0.607985330864,-0.00981816299206,1.07002059541,0.578556477481,-0.00114392932418,1.06969229272
+312,5.200000000,pose2_to_pose3_retreat,0.607363618559,-0.00981814202527,1.07002064155,0.577934765974,-0.00114390527734,1.06969234874
+313,5.216666667,pose2_to_pose3_retreat,0.606725742388,-0.00981815532895,1.07002061054,0.577296889506,-0.00114391951822,1.06969231951
+314,5.233333333,pose2_to_pose3_retreat,0.606082264906,-0.00981823512379,1.07002040027,0.576653411825,-0.00114400010309,1.06969210616
+315,5.250000000,pose2_to_pose3_retreat,0.605438113063,-0.00981831363351,1.07002038035,0.576009261814,-0.00114407211921,1.0696920936
+316,5.266666667,pose2_to_pose3_retreat,0.604792413379,-0.00981814671045,1.07002065357,0.575363561294,-0.00114390870339,1.06969234904
+317,5.283333333,pose2_to_pose3_retreat,0.604136913526,-0.00981817672853,1.07002063565,0.574708060754,-0.0011439406017,1.069692343
+318,5.300000000,pose2_to_pose3_retreat,0.603465220185,-0.00981823459232,1.07002054655,0.574036368607,-0.0011439942316,1.0696922586
+319,5.316666667,pose2_to_pose3_retreat,0.602764744957,-0.00981821927477,1.07002050206,0.57333589369,-0.00114397797901,1.06969221092
+320,5.333333333,pose2_to_pose3_retreat,0.602038148829,-0.00981813887685,1.07002046148,0.572609296197,-0.00114390236044,1.06969216632
+321,5.350000000,pose2_to_pose3_retreat,0.601285521452,-0.00981815028563,1.07002032456,0.571856668955,-0.00114391334197,1.06969202861
+322,5.366666667,pose2_to_pose3_retreat,0.600531928904,-0.00981831268008,1.07002052151,0.571103076082,-0.00114407671599,1.06969222873
+323,5.383333333,pose2_to_pose3_retreat,0.599787458236,-0.00981819887216,1.07002073721,0.57035860607,-0.00114396073297,1.06969244307
+324,5.400000000,pose2_to_pose3_retreat,0.599053859837,-0.00981825374659,1.07002061964,0.56962500803,-0.00114401471145,1.06969231688
+325,5.416666667,pose2_to_pose3_retreat,0.598330697928,-0.00981818107961,1.07002061096,0.568901844987,-0.00114394571757,1.0696923128
+326,5.433333333,pose2_to_pose3_retreat,0.597611875254,-0.00981814043201,1.0700205112,0.568183020581,-0.00114391059534,1.06969222221
+327,5.450000000,pose2_to_pose3_retreat,0.596886127183,-0.00981816319198,1.07002039293,0.567457271662,-0.00114393611033,1.06969210714
+328,5.466666667,pose2_to_pose3_retreat,0.596147751273,-0.0098181467407,1.07002051443,0.566718896975,-0.00114391579359,1.06969222107
+329,5.483333333,pose2_to_pose3_retreat,0.595392759967,-0.00981812877977,1.07002052241,0.565963907213,-0.00114389268513,1.06969222665
+330,5.500000000,pose2_to_pose3_retreat,0.594624143662,-0.00981827626888,1.07002063891,0.565195292028,-0.00114403644242,1.0696923413
+331,5.516666667,pose2_to_pose3_retreat,0.593877467716,-0.00981829379059,1.07002053947,0.564448616365,-0.00114405280243,1.06969224705
+332,5.533333333,pose2_to_pose3_retreat,0.593150818023,-0.00981821270257,1.07002050373,0.563721965656,-0.00114397509346,1.06969221316
+333,5.550000000,pose2_to_pose3_retreat,0.592441976695,-0.00981814429192,1.07002055876,0.563013123284,-0.00114391025945,1.06969226719
+334,5.566666667,pose2_to_pose3_retreat,0.591752010512,-0.00981812120757,1.07002056666,0.562323155922,-0.00114389123674,1.06969227336
+335,5.583333333,pose2_to_pose3_retreat,0.591077167491,-0.00981811431013,1.07002040075,0.561648311085,-0.00114389054818,1.06969210617
+336,5.600000000,pose2_to_pose3_retreat,0.590390934688,-0.00981817430803,1.07002051281,0.560962082571,-0.00114393601999,1.06969221751
+337,5.616666667,pose2_to_pose3_retreat,0.589695328745,-0.00981823063784,1.07002041895,0.560266477331,-0.00114398978573,1.06969212839
+338,5.633333333,pose2_to_pose3_retreat,0.589001960069,-0.00981833302444,1.07002048633,0.559573110576,-0.00114408587455,1.06969218988
+339,5.650000000,pose2_to_pose3_retreat,0.58831879138,-0.0098183238954,1.07002061252,0.558889941776,-0.00114407732443,1.06969231074
+340,5.666666667,pose2_to_pose3_retreat,0.587653469837,-0.00981826045771,1.07002071107,0.558224619185,-0.00114401742726,1.06969240971
+341,5.683333333,pose2_to_pose3_retreat,0.587012782911,-0.00981822164591,1.0700207163,0.557583931815,-0.00114398006115,1.06969241653
+342,5.700000000,pose2_to_pose3_retreat,0.586396599113,-0.00981815148568,1.07002055085,0.55696774635,-0.00114391563909,1.06969224889
+343,5.716666667,pose2_to_pose3_retreat,0.585792327463,-0.00981844866882,1.07002050886,0.556363478191,-0.00114420063799,1.06969221589
+344,5.733333333,pose2_to_pose3_retreat,0.585199117091,-0.00981835721909,1.07002044386,0.555770266822,-0.00114411280874,1.06969214455
+345,5.750000000,pose2_to_pose3_retreat,0.584618394704,-0.00981825771708,1.07002055843,0.555189542837,-0.00114401870497,1.06969225963
+346,5.766666667,pose2_to_pose3_retreat,0.584051641436,-0.00981819173667,1.0700205316,0.55462278814,-0.00114395748359,1.06969223513
+347,5.783333333,pose2_to_pose3_retreat,0.583502930906,-0.00981817565231,1.07002035698,0.554074077542,-0.00114394149359,1.06969206417
+348,5.800000000,pose2_to_pose3_retreat,0.582981476287,-0.00981822153845,1.07002024997,0.553552624304,-0.00114398244612,1.06969196365
+349,5.816666667,pose2_to_pose3_retreat,0.582486471776,-0.00981829304999,1.07002023054,0.553057619568,-0.00114405465423,1.069691946
+350,5.833333333,pose2_to_pose3_retreat,0.582007856797,-0.0098183328833,1.07002049148,0.552579005676,-0.00114409126019,1.06969219466
+351,5.850000000,pose2_to_pose3_retreat,0.581540981413,-0.00981821354879,1.07002034505,0.552112128827,-0.00114397674295,1.06969205301
+352,5.866666667,pose2_to_pose3_retreat,0.581084408561,-0.00981815594796,1.07002034762,0.551655555062,-0.00114392239455,1.06969205187
+353,5.883333333,pose2_to_pose3_retreat,0.580643199448,-0.00981813526053,1.07002047825,0.55121434614,-0.00114390127147,1.06969217684
+354,5.900000000,pose2_to_pose3_retreat,0.580223144337,-0.00981818811182,1.07002050565,0.550794291624,-0.00114395201734,1.06969220649
+355,5.916666667,pose2_to_pose3_retreat,0.579833331759,-0.00981837351037,1.07002041261,0.55040447968,-0.00114413508783,1.06969211858
+356,5.933333333,pose2_to_pose3_retreat,0.579472026306,-0.00981833713295,1.07002051907,0.550043175465,-0.00114409449662,1.06969222448
+357,5.950000000,pose2_to_pose3_retreat,0.5791361833,-0.00981818500105,1.07002083225,0.549707331609,-0.00114394546763,1.06969253182
+358,5.966666667,pose2_to_pose3_retreat,0.578817475705,-0.0098181685567,1.07002058238,0.549388622854,-0.0011439328064,1.06969228594
+359,5.983333333,pose2_to_pose3_retreat,0.578513217558,-0.00981822699338,1.0700203357,0.549084364484,-0.00114399193181,1.06969204109
+360,6.000000000,pose2_to_pose3_retreat,0.578223494468,-0.00981820898652,1.07002033341,0.548794641163,-0.00114397461628,1.06969204127
+361,6.016666667,pose2_to_pose3_retreat,0.577949313812,-0.0098180570321,1.0700204792,0.548520458971,-0.00114382764077,1.06969219327
+362,6.033333333,pose2_to_pose3_retreat,0.577695830548,-0.0098181370959,1.07002055968,0.548266975364,-0.0011439095847,1.06969225496
+363,6.050000000,pose2_to_pose3_retreat,0.577460861194,-0.00981835157081,1.07002056257,0.548032010365,-0.00114410927488,1.06969225811
+364,6.066666667,pose2_to_pose3_retreat,0.577243221988,-0.00981833639639,1.0700203349,0.547814371323,-0.00114409307835,1.06969204283
+365,6.083333333,pose2_to_pose3_retreat,0.577043338981,-0.00981829621893,1.07002039175,0.547614487443,-0.00114405579388,1.06969210147
+366,6.100000000,pose2_to_pose3_retreat,0.576862847419,-0.00981827082171,1.07002043289,0.547433995326,-0.00114403221133,1.06969214442
+367,6.116666667,pose2_to_pose3_retreat,0.576700331836,-0.00981824994527,1.07002041356,0.547271479168,-0.00114401338235,1.06969212247
+368,6.133333333,pose2_to_pose3_retreat,0.576555815511,-0.00981822006924,1.0700205724,0.5471269616,-0.00114398845469,1.06969226209
+369,6.150000000,pose2_to_pose3_retreat,0.576428309518,-0.00981812134974,1.07002038476,0.546999456143,-0.00114388705337,1.06969209741
+370,6.166666667,pose2_to_pose3_retreat,0.576315228543,-0.00981812824812,1.07002029931,0.546886374969,-0.00114389468176,1.06969201042
+371,6.183333333,pose2_to_pose3_retreat,0.57621502581,-0.00981816888483,1.07002043613,0.546786172865,-0.00114393323803,1.06969214587
+372,6.200000000,pose2_to_pose3_retreat,0.576124491849,-0.00981822963192,1.07002063196,0.546695639568,-0.00114399188587,1.06969233783
+373,6.216666667,pose2_to_pose3_retreat,0.576042791854,-0.00981829084039,1.0700206532,0.546613939182,-0.0011440548147,1.06969234909
+374,6.233333333,pose2_to_pose3_retreat,0.575970466624,-0.00981822378416,1.07002038036,0.54654161367,-0.0011439880853,1.06969209283
+375,6.250000000,pose2_to_pose3_retreat,0.575907583934,-0.00981830033538,1.07002058422,0.546478732917,-0.00114405827104,1.06969229116
+376,6.266666667,pose2_to_pose3_retreat,0.575854373385,-0.00981823619953,1.07002054271,0.546425521801,-0.00114399598319,1.06969225159
+377,6.283333333,pose2_to_pose3_retreat,0.575810104711,-0.00981823089422,1.07002052848,0.54638125307,-0.00114399109455,1.0696922315
+378,6.300000000,pose2_to_pose3_retreat,0.575774992948,-0.00981824872118,1.07002062227,0.546346141637,-0.00114400789069,1.06969232288
+379,6.316666667,pose2_to_pose3_retreat,0.575746692379,-0.009818216848,1.07002072704,0.546317840576,-0.00114397739578,1.06969243527
+380,6.333333333,pose2_to_pose3_retreat,0.575724656043,-0.00981823131648,1.0700206682,0.546295802895,-0.00114399676658,1.06969236758
+381,6.350000000,pose2_to_pose3_retreat,0.575707177687,-0.00981824677939,1.0700205598,0.546278324899,-0.00114401087257,1.06969226275
+382,6.366666667,pose2_to_pose3_retreat,0.575693882884,-0.00981824891507,1.07002046607,0.546265030969,-0.00114401008821,1.06969216783
+383,6.383333333,pose2_to_pose3_retreat,0.575684687833,-0.00981825822832,1.07002036165,0.546255835987,-0.00114401907112,1.06969206608
+384,6.400000000,pose2_to_pose3_retreat,0.575678154109,-0.00981828019934,1.07002024477,0.546249301388,-0.00114404367339,1.06969195809
+385,6.416666667,pose2_to_pose3_retreat,0.575674088527,-0.00981828542705,1.07002058901,0.546245237232,-0.00114404409981,1.06969230119
+386,6.433333333,pose2_to_pose3_retreat,0.575671666538,-0.00981824786865,1.07002069664,0.546242815033,-0.00114400732929,1.0696924068
+387,6.450000000,pose2_to_pose3_retreat,0.575670466114,-0.00981817337223,1.07002061611,0.546241613049,-0.00114393823566,1.06969232342
+388,6.466666667,pose2_to_pose3_retreat,0.575669683931,-0.00981812483121,1.07002056363,0.546240829851,-0.00114389321503,1.06969226909
+389,6.483333333,pose2_to_pose3_retreat,0.575669195675,-0.00981809453084,1.07002053087,0.546240340961,-0.00114386511216,1.06969223518
+390,6.500000000,pose2_to_pose3_retreat,0.57566885578,-0.00981810784366,1.07002052368,0.546240001372,-0.00114387736552,1.06969222855
+391,6.516666667,pose2_to_pose3_retreat,0.575668602333,-0.00981812118308,1.07002051986,0.546239748227,-0.00114388965812,1.06969222529
+392,6.533333333,pose2_to_pose3_retreat,0.575668422179,-0.00981813066494,1.07002051715,0.546239568288,-0.00114389839589,1.06969222298
+393,6.550000000,pose2_to_pose3_retreat,0.575668251185,-0.00981813966474,1.07002051458,0.546239397497,-0.00114390668942,1.06969222078
+394,6.566666667,pose2_to_pose3_retreat,0.575668171399,-0.00981814386402,1.07002051338,0.546239317807,-0.00114391055916,1.06969221976
+395,6.583333333,pose2_to_pose3_retreat,0.575668109634,-0.00981814711481,1.07002051245,0.546239256116,-0.00114391355485,1.06969221896
+396,6.600000000,pose2_to_pose3_retreat,0.575668098505,-0.00981814770057,1.07002051228,0.546239245,-0.00114391409464,1.06969221882
+397,6.616666667,pose2_to_pose3_retreat,0.575667957838,-0.00981815510414,1.07002051016,0.546239104501,-0.00114392091721,1.06969221701
+398,6.633333333,pose2_to_pose3_retreat,0.575667832613,-0.00981816169502,1.07002050828,0.546238979425,-0.00114392699086,1.0696922154
+399,6.650000000,pose2_to_pose3_retreat,0.575667766512,-0.00981816517401,1.07002050728,0.546238913404,-0.00114393019684,1.06969221455
+400,6.666666667,pose2_to_pose3_retreat,0.575667555131,-0.00981817629947,1.0700205041,0.546238702274,-0.00114394044922,1.06969221184
+401,6.683333333,pose2_to_pose3_retreat,0.575667325761,-0.00981817966207,1.07002050221,0.546238472975,-0.00114394356068,1.0696922103
+402,6.700000000,pose2_to_pose3_retreat,0.575667141426,-0.00981817680153,1.07002050168,0.546238288566,-0.00114394094298,1.06969220997
+403,6.716666667,pose2_to_pose3_retreat,0.57566697691,-0.00981817424854,1.07002050121,0.546238123985,-0.00114393860672,1.06969220967
+404,6.733333333,pose2_to_pose3_retreat,0.575666927359,-0.00981817347959,1.07002050107,0.546238074413,-0.00114393790306,1.06969220958
+405,6.750000000,pose2_to_pose3_retreat,0.575666900288,-0.0098181730595,1.070020501,0.546238047332,-0.00114393751863,1.06969220953
+406,6.766666667,pose2_to_pose3_retreat,0.575666809522,-0.00981819399191,1.07002045308,0.546237956411,-0.00114395886949,1.0696921644
+407,6.783333333,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914777,-0.00114400271448,1.06969206398

Obstacle_avoidance/cylinder_15A_10/position_08/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d10d58e882b9ef81e318d77ec442c23f64f0108f4850eef2d15cb3ca8afdda06
+size 25844900

Obstacle_avoidance/cylinder_15A_10/position_08/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,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+1,0.016666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+2,0.033333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+3,0.050000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+4,0.066666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+5,0.083333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+6,0.100000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+7,0.116666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+8,0.133333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+9,0.150000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+10,0.166666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+11,0.183333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+12,0.200000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+13,0.216666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+14,0.233333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+15,0.250000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+16,0.266666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+17,0.283333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+18,0.300000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+19,0.316666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+20,0.333333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+21,0.350000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+22,0.366666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+23,0.383333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+24,0.400000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+25,0.416666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+26,0.433333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+27,0.450000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+28,0.466666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+29,0.483333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+30,0.500000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+31,0.516666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+32,0.533333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+33,0.550000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+34,0.566666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+35,0.583333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+36,0.600000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+37,0.616666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+38,0.633333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+39,0.650000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+40,0.666666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+41,0.683333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+42,0.700000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+43,0.716666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+44,0.733333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+45,0.750000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+46,0.766666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+47,0.783333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+48,0.800000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+49,0.816666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+50,0.833333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+51,0.850000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+52,0.866666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+53,0.883333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+54,0.900000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+55,0.916666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+56,0.933333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+57,0.950000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+58,0.966666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+59,0.983333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+60,1.000000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+61,1.016666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+62,1.033333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+63,1.050000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+64,1.066666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+65,1.083333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+66,1.100000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+67,1.116666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+68,1.133333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+69,1.150000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+70,1.166666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+71,1.183333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+72,1.200000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+73,1.216666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+74,1.233333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+75,1.250000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+76,1.266666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+77,1.283333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+78,1.300000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+79,1.316666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+80,1.333333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+81,1.350000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+82,1.366666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+83,1.383333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+84,1.400000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+85,1.416666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+86,1.433333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+87,1.450000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+88,1.466666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+89,1.483333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+90,1.500000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+91,1.516666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+92,1.533333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+93,1.550000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+94,1.566666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+95,1.583333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+96,1.600000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+97,1.616666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+98,1.633333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+99,1.650000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+100,1.666666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+101,1.683333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+102,1.700000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+103,1.716666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+104,1.733333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+105,1.750000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+106,1.766666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+107,1.783333333,pose1_to_pose2_press,0.575666768205,-0.00981824323672,1.07002034654,0.546237914814,-0.00114400883609,1.06969206393
+108,1.800000000,pose1_to_pose2_press,0.575666776458,-0.00981823340002,1.07002036782,0.546237923123,-0.00114399885522,1.069692084
+109,1.816666667,pose1_to_pose2_press,0.575666794013,-0.0098182124773,1.07002041309,0.546237940797,-0.00114397762587,1.06969212669
+110,1.833333333,pose1_to_pose2_press,0.575666885503,-0.00981817256928,1.07002051595,0.546238032466,-0.0011439373348,1.06969222367
+111,1.850000000,pose1_to_pose2_press,0.575666943834,-0.00981817320982,1.07002053134,0.546238090743,-0.00114393818955,1.06969223814
+112,1.866666667,pose1_to_pose2_press,0.575667001191,-0.00981817383968,1.07002054648,0.546238148049,-0.00114393903005,1.06969225238
+113,1.883333333,pose1_to_pose2_press,0.575667451413,-0.00981817878364,1.07002066526,0.546238597861,-0.00114394562741,1.06969236414
+114,1.900000000,pose1_to_pose2_press,0.575668512345,-0.00981823357234,1.07002058636,0.546239658936,-0.00114399996891,1.06969228434
+115,1.916666667,pose1_to_pose2_press,0.57567055542,-0.00981825817235,1.07002052173,0.546241702792,-0.00114402162065,1.06969222753
+116,1.933333333,pose1_to_pose2_press,0.575676255595,-0.00981816648842,1.07002048803,0.546247401864,-0.00114393345456,1.06969219969
+117,1.950000000,pose1_to_pose2_press,0.575687154448,-0.00981805642156,1.0700203665,0.54625830015,-0.00114382530923,1.06969207818
+118,1.966666667,pose1_to_pose2_press,0.575707366954,-0.00981824582689,1.07002044862,0.54627851411,-0.0011440098728,1.06969215778
+119,1.983333333,pose1_to_pose2_press,0.575737361196,-0.00981827490261,1.07002037873,0.546308508791,-0.00114403745063,1.06969208815
+120,2.000000000,pose1_to_pose2_press,0.575778960682,-0.00981822705547,1.07002052705,0.546350107581,-0.00114399191735,1.0696922376
+121,2.016666667,pose1_to_pose2_press,0.57583070197,-0.00981822541246,1.07002052411,0.546401849481,-0.00114398845268,1.06969222782
+122,2.033333333,pose1_to_pose2_press,0.575892394923,-0.00981822411625,1.07002064971,0.546463542813,-0.00114398599824,1.06969234998
+123,2.050000000,pose1_to_pose2_press,0.57596207009,-0.00981824650239,1.07002060383,0.546533218397,-0.00114400679406,1.06969230865
+124,2.066666667,pose1_to_pose2_press,0.576039929866,-0.00981827299909,1.07002043538,0.546611078197,-0.00114403313531,1.06969214211
+125,2.083333333,pose1_to_pose2_press,0.576127464694,-0.00981816059625,1.07002059959,0.546698612076,-0.00114392395412,1.06969230618
+126,2.100000000,pose1_to_pose2_press,0.576225042411,-0.00981818992285,1.07002064978,0.546796189853,-0.00114395318685,1.06969235355
+127,2.116666667,pose1_to_pose2_press,0.576334424962,-0.00981825039354,1.0700205244,0.546905572589,-0.00114401307833,1.06969222688
+128,2.133333333,pose1_to_pose2_press,0.576454795575,-0.00981810883662,1.07002051582,0.54702594169,-0.00114387652528,1.06969222161
+129,2.150000000,pose1_to_pose2_press,0.576586906496,-0.00981811559772,1.0700205614,0.547158052564,-0.00114388354313,1.06969226454
+130,2.166666667,pose1_to_pose2_press,0.576732644372,-0.00981807042842,1.07002080412,0.547303790714,-0.00114383774065,1.06969249938
+131,2.183333333,pose1_to_pose2_press,0.576892438216,-0.00981819781887,1.07002088948,0.547463585582,-0.00114396150893,1.06969258856
+132,2.200000000,pose1_to_pose2_press,0.57706909147,-0.00981818555171,1.07002080287,0.547640238457,-0.00114395034492,1.06969250674
+133,2.216666667,pose1_to_pose2_press,0.57726362174,-0.00981812502285,1.07002062355,0.547834768419,-0.00114389082301,1.06969232837
+134,2.233333333,pose1_to_pose2_press,0.577478547891,-0.00981819342851,1.07002044908,0.548049695722,-0.00114395519825,1.06969215709
+135,2.250000000,pose1_to_pose2_press,0.577714499085,-0.0098183391239,1.07002036945,0.548285649165,-0.00114409312532,1.06969208102
+136,2.266666667,pose1_to_pose2_press,0.577972423794,-0.00981833717649,1.07002032991,0.54854357384,-0.00114409120943,1.06969204371
+137,2.283333333,pose1_to_pose2_press,0.578251459424,-0.00981823961272,1.07002022672,0.548822606271,-0.0011440041886,1.0696919486
+138,2.300000000,pose1_to_pose2_press,0.578550223965,-0.00981834379498,1.0700204039,0.54912137442,-0.00114409657747,1.06969211396
+139,2.316666667,pose1_to_pose2_press,0.578868424278,-0.00981822515415,1.07002068123,0.549439572847,-0.00114398494031,1.06969237529
+140,2.333333333,pose1_to_pose2_press,0.57920290411,-0.00981815469091,1.07002049041,0.549774050914,-0.001143919683,1.06969220497
+141,2.350000000,pose1_to_pose2_press,0.579553621235,-0.00981813893455,1.07002046666,0.550124767795,-0.00114390462566,1.06969218462
+142,2.366666667,pose1_to_pose2_press,0.579922885137,-0.00981830332937,1.07002049028,0.550494034443,-0.00114405992129,1.06969220256
+143,2.383333333,pose1_to_pose2_press,0.580311396572,-0.00981830675483,1.0700205273,0.550882546106,-0.00114406287943,1.06969223132
+144,2.400000000,pose1_to_pose2_press,0.580719172486,-0.00981822667089,1.07002058379,0.55129032025,-0.00114398878711,1.06969228813
+145,2.416666667,pose1_to_pose2_press,0.581149232993,-0.00981819332445,1.07002055436,0.551720379589,-0.00114395934761,1.06969226019
+146,2.433333333,pose1_to_pose2_press,0.581609509263,-0.00981817928629,1.0700204916,0.552180655924,-0.00114394531635,1.06969219147
+147,2.450000000,pose1_to_pose2_press,0.582094438793,-0.00981814534338,1.07002061172,0.552665585395,-0.00114391154038,1.06969231243
+148,2.466666667,pose1_to_pose2_press,0.582603450975,-0.00981820901321,1.07002038694,0.553174597928,-0.00114397386804,1.06969209158
+149,2.483333333,pose1_to_pose2_press,0.583132083579,-0.00981842010955,1.07002025945,0.553703233869,-0.00114417327702,1.06969197372
+150,2.500000000,pose1_to_pose2_press,0.583675215136,-0.00981835291207,1.07002043635,0.554246363935,-0.00114411084562,1.06969215833
+151,2.516666667,pose1_to_pose2_press,0.584225444135,-0.00981829469399,1.07002049015,0.554796593417,-0.00114405143276,1.06969220039
+152,2.533333333,pose1_to_pose2_press,0.58478514919,-0.0098183646018,1.07002034591,0.555356299969,-0.00114411654065,1.06969204868
+153,2.550000000,pose1_to_pose2_press,0.585358142823,-0.009818321117,1.07002043756,0.555929292923,-0.00114407532052,1.06969214142
+154,2.566666667,pose1_to_pose2_press,0.585951989701,-0.00981834230347,1.07002070822,0.55652313913,-0.00114409875463,1.06969241284
+155,2.583333333,pose1_to_pose2_press,0.586568234655,-0.00981831748512,1.07002068406,0.557139383208,-0.00114407693341,1.06969238804
+156,2.600000000,pose1_to_pose2_press,0.587202904131,-0.00981818658796,1.07002053519,0.557774051307,-0.00114395081858,1.06969223622
+157,2.616666667,pose1_to_pose2_press,0.587856159542,-0.00981818120663,1.07002071537,0.558427306529,-0.00114394628668,1.0696924109
+158,2.633333333,pose1_to_pose2_press,0.58853436828,-0.00981825819764,1.07002043652,0.55910551526,-0.00114402312725,1.06969213665
+159,2.650000000,pose1_to_pose2_press,0.589223595073,-0.0098181352708,1.07002054511,0.559794739622,-0.00114390851943,1.06969224344
+160,2.666666667,pose1_to_pose2_press,0.589915960052,-0.00981838339335,1.07002053884,0.560487109031,-0.00114414153443,1.06969223925
+161,2.683333333,pose1_to_pose2_press,0.590619615126,-0.00981827772201,1.07002038067,0.561190763947,-0.00114403597186,1.06969209232
+162,2.700000000,pose1_to_pose2_press,0.591332868295,-0.00981817416456,1.07002059768,0.561904016349,-0.00114393530378,1.06969230175
+163,2.716666667,pose1_to_pose2_press,0.592053640571,-0.00981820944047,1.07002074629,0.562624789256,-0.00114396861703,1.0696924457
+164,2.733333333,pose1_to_pose2_press,0.592782484404,-0.00981817411199,1.07002058641,0.563353631255,-0.00114393907155,1.06969229749
+165,2.750000000,pose1_to_pose2_press,0.593515089422,-0.00981813627069,1.0700204982,0.564086235257,-0.00114390471399,1.06969220832
+166,2.766666667,pose1_to_pose2_press,0.59424833944,-0.0098181901277,1.07002068624,0.564819487414,-0.00114395167933,1.06969238673
+167,2.783333333,pose1_to_pose2_press,0.594981987822,-0.00981824630876,1.07002082346,0.565553137367,-0.00114400246127,1.06969252573
+168,2.800000000,pose1_to_pose2_press,0.595712459221,-0.00981816672517,1.07002060802,0.566283606029,-0.0011439319571,1.06969231593
+169,2.816666667,pose1_to_pose2_press,0.596447310982,-0.00981805608977,1.07002054948,0.567018456606,-0.00114382561134,1.06969225012
+170,2.833333333,pose1_to_pose2_press,0.597199814687,-0.00981832758201,1.07002068784,0.567770963553,-0.00114408646328,1.06969237907
+171,2.850000000,pose1_to_pose2_press,0.597965339019,-0.00981815602779,1.07002053651,0.568536485361,-0.00114392299757,1.06969224034
+172,2.866666667,pose1_to_pose2_press,0.598742000919,-0.00981826436303,1.07002065586,0.569313148066,-0.00114402885054,1.06969235317
+173,2.883333333,pose1_to_pose2_press,0.599510287162,-0.00981809952247,1.07002075339,0.570081433097,-0.00114386798688,1.0696924543
+174,2.900000000,pose1_to_pose2_press,0.600265747112,-0.00981808748793,1.07002059467,0.57083689476,-0.00114384994871,1.06969230077
+175,2.916666667,pose1_to_pose2_press,0.601006669295,-0.00981814193426,1.0700205141,0.571577818312,-0.00114389976585,1.06969221978
+176,2.933333333,pose1_to_pose2_press,0.601735756364,-0.00981823169432,1.07002054002,0.572306905034,-0.00114399089349,1.06969224071
+177,2.950000000,pose1_to_pose2_press,0.602458673329,-0.00981831745361,1.07002054119,0.573029821905,-0.00114407699386,1.06969224142
+178,2.966666667,pose1_to_pose2_press,0.603185771539,-0.0098182994955,1.07002050026,0.573756920748,-0.00114405654625,1.06969220955
+179,2.983333333,pose1_to_pose2_press,0.603918567062,-0.00981825375562,1.07002047421,0.574489715161,-0.00114401438809,1.06969218851
+180,3.000000000,pose1_to_pose2_press,0.604649901292,-0.00981826956726,1.07002052786,0.575221049699,-0.00114402944825,1.06969223438
+181,3.016666667,pose1_to_pose2_press,0.605372452437,-0.00981820856481,1.07002063493,0.575943601972,-0.00114396459138,1.06969234231
+182,3.033333333,pose1_to_pose2_press,0.606065036426,-0.00981821964923,1.07002062558,0.576636185093,-0.00114397854545,1.0696923349
+183,3.050000000,pose1_to_pose2_press,0.606724725913,-0.00981827222775,1.07002054346,0.57729587393,-0.00114403350611,1.06969224826
+184,3.066666667,pose1_to_pose2_press,0.607346356166,-0.00981830580359,1.07002041271,0.577917504545,-0.00114406565702,1.06969212271
+185,3.083333333,pose1_to_pose2_press,0.607946824381,-0.00981819905459,1.07002030283,0.578517971841,-0.00114396196641,1.06969201451
+186,3.100000000,pose1_to_pose2_press,0.608535437831,-0.00981814416425,1.07002031254,0.579106584701,-0.00114390922149,1.0696920204
+187,3.116666667,pose1_to_pose2_press,0.609124336408,-0.00981815894627,1.07002040003,0.579695483269,-0.00114392415519,1.0696921048
+188,3.133333333,pose1_to_pose2_press,0.6097157281,-0.00981801039177,1.07002036866,0.580286873447,-0.00114378049104,1.06969208001
+189,3.150000000,pose1_to_pose2_press,0.610308164425,-0.00981811433698,1.0700203499,0.580879311162,-0.00114387948635,1.06969206748
+190,3.166666667,pose1_to_pose2_press,0.610886665161,-0.00981821516748,1.07002049756,0.581457813858,-0.00114397392948,1.06969220829
+191,3.183333333,pose1_to_pose2_press,0.611442720933,-0.00981812095346,1.07002053074,0.582013868559,-0.00114388362035,1.06969223435
+192,3.200000000,pose1_to_pose2_press,0.611971814246,-0.00981821842751,1.07002039639,0.582542962378,-0.00114397909394,1.06969210751
+193,3.216666667,pose1_to_pose2_press,0.612474443086,-0.00981822684053,1.07002038015,0.583045590861,-0.00114398879485,1.06969208912
+194,3.233333333,pose1_to_pose2_press,0.612950405649,-0.00981826798117,1.07002037358,0.583521553923,-0.00114402813805,1.06969208505
+195,3.250000000,pose1_to_pose2_press,0.613401830568,-0.00981821511405,1.07002046794,0.583972978206,-0.00114397725048,1.06969218179
+196,3.266666667,pose1_to_pose2_press,0.613829333475,-0.00981812556355,1.07002056014,0.584400479602,-0.00114389273431,1.06969227045
+197,3.283333333,pose1_to_pose2_press,0.614242233452,-0.00981823092018,1.07002042596,0.584813380323,-0.00114399539843,1.06969213152
+198,3.300000000,pose1_to_pose2_press,0.614644113211,-0.00981814503937,1.0700206358,0.585215260931,-0.00114390630108,1.06969234187
+199,3.316666667,pose1_to_pose2_press,0.615039207498,-0.0098181793057,1.07002067085,0.585610355272,-0.00114394024698,1.06969237003
+200,3.333333333,pose1_to_pose2_press,0.615425423783,-0.00981816862648,1.07002055493,0.585996571177,-0.00114393041621,1.0696922569
+201,3.350000000,pose1_to_pose2_press,0.615793004822,-0.00981816480743,1.07002052499,0.586364150835,-0.0011439307784,1.06969222929
+202,3.366666667,pose1_to_pose2_press,0.616135386592,-0.0098182014662,1.07002051625,0.586706533157,-0.00114396511747,1.06969222275
+203,3.383333333,pose1_to_pose2_press,0.616445935916,-0.00981827269154,1.07002060149,0.587017083704,-0.00114403192879,1.06969230492
+204,3.400000000,pose1_to_pose2_press,0.616727369113,-0.00981823142564,1.07002058838,0.587298516482,-0.00114399175385,1.06969229322
+205,3.416666667,pose1_to_pose2_press,0.61698237742,-0.00981814073951,1.07002054286,0.58755352283,-0.00114390743442,1.06969224952
+206,3.433333333,pose1_to_pose2_press,0.617221132746,-0.00981816396874,1.07002069572,0.587792276643,-0.00114393584399,1.06969239374
+207,3.450000000,pose1_to_pose2_press,0.617446962498,-0.00981819493088,1.07002092637,0.588018109325,-0.00114395675575,1.06969262108
+208,3.466666667,pose1_to_pose2_press,0.617661646708,-0.00981815275313,1.07002063917,0.588232792753,-0.00114391619025,1.0696923542
+209,3.483333333,pose1_to_pose2_press,0.61786367875,-0.00981818211159,1.07002071509,0.588434825358,-0.00114394363424,1.06969242357
+210,3.500000000,pose1_to_pose2_press,0.618051296133,-0.00981815604299,1.07002061175,0.588622442691,-0.00114391773005,1.06969231609
+211,3.516666667,pose1_to_pose2_press,0.618220617093,-0.00981813282248,1.07002064882,0.588791763205,-0.00114389582809,1.06969235368
+212,3.533333333,pose1_to_pose2_press,0.618371749152,-0.00981816434865,1.07002074776,0.588942895419,-0.00114392650905,1.0696924554
+213,3.550000000,pose1_to_pose2_press,0.618505228451,-0.00981822349268,1.07002070189,0.589076375118,-0.00114398399251,1.06969241271
+214,3.566666667,pose1_to_pose2_press,0.61862380303,-0.00981826424257,1.07002059912,0.58919494938,-0.00114402574701,1.06969230879
+215,3.583333333,pose1_to_pose2_press,0.61872857852,-0.00981828906934,1.07002055044,0.589299725043,-0.0011440502532,1.0696922494
+216,3.600000000,pose1_to_pose2_press,0.618823634886,-0.00981832885405,1.07002062781,0.589394782466,-0.00114408625832,1.06969232983
+217,3.616666667,pose1_to_pose2_press,0.618909731567,-0.00981814581662,1.0700205374,0.589480876753,-0.00114391111924,1.06969224587
+218,3.633333333,pose1_to_pose2_press,0.618985949467,-0.00981819843688,1.07002041628,0.589557095598,-0.00114395951561,1.06969212979
+219,3.650000000,pose1_to_pose2_press,0.619052416779,-0.00981825590979,1.07002051389,0.589623563962,-0.0011440130391,1.0696922264
+220,3.666666667,pose1_to_pose2_press,0.619108065382,-0.00981825673275,1.07002045556,0.589679212029,-0.00114401594196,1.06969216463
+221,3.683333333,pose1_to_pose2_press,0.61915387373,-0.00981824442273,1.0700203474,0.589725020617,-0.00114400295428,1.06969205701
+222,3.700000000,pose1_to_pose2_press,0.619189815788,-0.00981820876396,1.07002045897,0.589760963526,-0.00114396449822,1.06969217115
+223,3.716666667,pose1_to_pose2_press,0.619218959334,-0.00981823912499,1.07002039693,0.589790105732,-0.00114399978511,1.0696921065
+224,3.733333333,pose1_to_pose2_press,0.619241855554,-0.00981828351278,1.07002059235,0.589813002628,-0.00114404186339,1.06969230337
+225,3.750000000,pose1_to_pose2_press,0.61925976215,-0.00981823747921,1.0700207426,0.589830907729,-0.00114400130134,1.06969244328
+226,3.766666667,pose1_to_pose2_press,0.619273369259,-0.00981822369376,1.07002064674,0.589844515021,-0.00114398673094,1.06969234978
+227,3.783333333,pose1_to_pose2_press,0.619283336486,-0.00981818802347,1.07002053798,0.589854482561,-0.00114394972173,1.06969224673
+228,3.800000000,pose1_to_pose2_press,0.619290452226,-0.00981807516173,1.07002061733,0.589861597071,-0.0011438411241,1.06969232472
+229,3.816666667,pose1_to_pose2_press,0.619294886976,-0.00981812690938,1.07002054949,0.58986603143,-0.0011438941305,1.0696922585
+230,3.833333333,pose1_to_pose2_press,0.619298009296,-0.00981817853366,1.07002049549,0.589869153772,-0.00114394563369,1.06969220538
+231,3.850000000,pose1_to_pose2_press,0.619299999552,-0.00981822615724,1.0700205164,0.589871146164,-0.00114398608654,1.06969222243
+232,3.866666667,pose1_to_pose2_press,0.619301423883,-0.00981826023916,1.07002053136,0.589872572024,-0.00114401503672,1.06969223464
+233,3.883333333,pose1_to_pose2_press,0.619302331782,-0.0098182378478,1.07002053506,0.589873479345,-0.00114399463812,1.06969223755
+234,3.900000000,pose1_to_pose2_press,0.619302792093,-0.00981819902393,1.0700205333,0.589873938396,-0.00114396010244,1.06969223599
+235,3.916666667,pose1_to_pose2_press,0.61930320586,-0.00981816412565,1.07002053172,0.589874351031,-0.00114392905875,1.06969223459
+236,3.933333333,pose1_to_pose2_press,0.619303599571,-0.00981813091903,1.07002053022,0.589874743665,-0.00114389951987,1.06969223326
+237,3.950000000,pose1_to_pose2_press,0.619303912035,-0.00981810456492,1.07002052902,0.589875055274,-0.00114387607664,1.0696922322
+238,3.966666667,pose1_to_pose2_press,0.619304203712,-0.00981808571494,1.07002052821,0.589875346418,-0.00114385904362,1.06969223149
+239,3.983333333,pose1_to_pose2_press,0.619304442033,-0.00981810370846,1.07002052928,0.589875585838,-0.00114387329391,1.06969223249
+240,4.000000000,pose1_to_pose2_press,0.61930471013,-0.0098181239501,1.07002053048,0.589875855172,-0.00114388932464,1.06969223361
+241,4.016666667,pose1_to_pose2_press,0.619305014533,-0.00981812796806,1.0700205158,0.589876160606,-0.00114388969887,1.0696922225
+242,4.033333333,pose1_to_pose2_press,0.619305133421,-0.00981810756111,1.07002049147,0.589876279466,-0.00114386918683,1.06969220381
+243,4.050000000,pose1_to_pose2_press,0.619305156338,-0.00981810362727,1.07002048678,0.589876302378,-0.00114386523274,1.0696922002
+244,4.066666667,pose1_to_pose2_press,0.619305165474,-0.00981810205923,1.07002048491,0.589876311511,-0.00114386365662,1.06969219877
+245,4.083333333,pose1_to_pose2_press,0.619305228107,-0.00981809130824,1.07002047209,0.58987637413,-0.00114385285027,1.06969218892
+246,4.100000000,pose1_to_pose2_press,0.619305414437,-0.00981810894582,1.07002048534,0.589876559871,-0.0011438726397,1.06969219794
+247,4.116666667,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559872,-0.00114387264053,1.06969219795
+248,4.133333333,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559872,-0.00114387264051,1.06969219795
+249,4.150000000,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559872,-0.00114387264032,1.06969219795
+250,4.166666667,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559872,-0.00114387264023,1.06969219795
+251,4.183333333,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559873,-0.00114387264038,1.06969219795
+252,4.200000000,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559872,-0.00114387264024,1.06969219795
+253,4.216666667,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559872,-0.00114387264014,1.06969219795
+254,4.233333333,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559872,-0.00114387264013,1.06969219795
+255,4.250000000,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559873,-0.00114387264032,1.06969219795
+256,4.266666667,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559873,-0.00114387264039,1.06969219795
+257,4.283333333,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559873,-0.00114387264021,1.06969219795
+258,4.300000000,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559873,-0.00114387264044,1.06969219795
+259,4.316666667,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559873,-0.00114387264039,1.06969219795
+260,4.333333333,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559873,-0.00114387264029,1.06969219795
+261,4.350000000,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559873,-0.00114387264021,1.06969219795
+262,4.366666667,pose2_hold,0.619305414437,-0.00981810894582,1.07002048534,0.589876559873,-0.00114387264031,1.06969219795
+263,4.383333333,pose2_to_pose3_retreat,0.61930535652,-0.00981810530172,1.07002050591,0.589876501062,-0.00114387220871,1.06969221355
+264,4.400000000,pose2_to_pose3_retreat,0.619305228455,-0.00981820917885,1.07002061854,0.589876375557,-0.00114396731837,1.06969232856
+265,4.416666667,pose2_to_pose3_retreat,0.619304971731,-0.00981824524342,1.07002061771,0.589876119115,-0.00114400242155,1.06969232775
+266,4.433333333,pose2_to_pose3_retreat,0.619304551357,-0.00981824352826,1.07002063822,0.58987569832,-0.00114400232783,1.06969234321
+267,4.450000000,pose2_to_pose3_retreat,0.619304088521,-0.00981823526972,1.07002066309,0.589875234929,-0.00114399618949,1.069692362
+268,4.466666667,pose2_to_pose3_retreat,0.619303544971,-0.00981822580242,1.0700206563,0.589874690939,-0.00114398828957,1.06969235337
+269,4.483333333,pose2_to_pose3_retreat,0.619303426805,-0.00981822377929,1.07002064937,0.589874572709,-0.00114398646748,1.06969234685
+270,4.500000000,pose2_to_pose3_retreat,0.619303379815,-0.00981822297477,1.07002064661,0.589874525694,-0.00114398574291,1.06969234426
+271,4.516666667,pose2_to_pose3_retreat,0.61930277131,-0.00981821255657,1.07002061093,0.589873916861,-0.00114397635999,1.06969231067
+272,4.533333333,pose2_to_pose3_retreat,0.619300384515,-0.00981819491459,1.07002051353,0.589871529669,-0.00114395982945,1.06969221963
+273,4.550000000,pose2_to_pose3_retreat,0.619295269096,-0.00981823685199,1.07002050217,0.589866416435,-0.00114399414397,1.06969221377
+274,4.566666667,pose2_to_pose3_retreat,0.619282629875,-0.00981817951975,1.0700204287,0.589853775908,-0.00114394093529,1.06969214724
+275,4.583333333,pose2_to_pose3_retreat,0.619261642352,-0.0098180806122,1.07002052853,0.589832787104,-0.00114384680357,1.06969224015
+276,4.600000000,pose2_to_pose3_retreat,0.619230439932,-0.00981831091915,1.07002054904,0.589801587755,-0.0011440672229,1.06969225129
+277,4.616666667,pose2_to_pose3_retreat,0.619189757406,-0.00981825715667,1.07002068087,0.589760904513,-0.00114401603478,1.06969238508
+278,4.633333333,pose2_to_pose3_retreat,0.61913916645,-0.00981825321822,1.07002040766,0.589710313221,-0.00114401282979,1.06969211983
+279,4.650000000,pose2_to_pose3_retreat,0.619081118365,-0.00981820568684,1.07002059113,0.589652264766,-0.00114396630164,1.06969229796
+280,4.666666667,pose2_to_pose3_retreat,0.619015943697,-0.00981813861057,1.07002071625,0.589587089585,-0.00114390139697,1.06969241871
+281,4.683333333,pose2_to_pose3_retreat,0.618940777602,-0.00981819650658,1.07002052858,0.589511923746,-0.00114395873433,1.06969223307
+282,4.700000000,pose2_to_pose3_retreat,0.61885491705,-0.00981825733361,1.07002054608,0.589426063381,-0.00114401908962,1.06969224422
+283,4.716666667,pose2_to_pose3_retreat,0.618755870779,-0.00981815157512,1.0700205449,0.589327016047,-0.00114391706982,1.06969224228
+284,4.733333333,pose2_to_pose3_retreat,0.618643296945,-0.00981808005219,1.07002071176,0.58921444237,-0.00114384488007,1.0696924177
+285,4.750000000,pose2_to_pose3_retreat,0.618516585414,-0.00981826072173,1.07002085093,0.589087733066,-0.00114401824089,1.0696925544
+286,4.766666667,pose2_to_pose3_retreat,0.618377469865,-0.00981833158649,1.07002068492,0.588948618424,-0.00114408609514,1.06969239081
+287,4.783333333,pose2_to_pose3_retreat,0.61822617184,-0.00981827723161,1.07002044501,0.588797319111,-0.00114403606087,1.06969215706
+288,4.800000000,pose2_to_pose3_retreat,0.618059774535,-0.00981819472836,1.07002038354,0.588630919916,-0.00114396005051,1.06969209896
+289,4.816666667,pose2_to_pose3_retreat,0.61787783397,-0.00981810295254,1.07002048509,0.588448979511,-0.00114386798639,1.06969219945
+290,4.833333333,pose2_to_pose3_retreat,0.617678508786,-0.00981810862473,1.07002051184,0.588249653735,-0.00114387609922,1.06969221919
+291,4.850000000,pose2_to_pose3_retreat,0.617460907958,-0.00981824254246,1.07002050134,0.588032055942,-0.00114399980807,1.06969221206
+292,4.866666667,pose2_to_pose3_retreat,0.617225058425,-0.00981824170715,1.07002050581,0.587796206185,-0.00114400013329,1.06969221438
+293,4.883333333,pose2_to_pose3_retreat,0.616973822713,-0.00981823932474,1.07002049211,0.587544970316,-0.00114399851086,1.06969220282
+294,4.900000000,pose2_to_pose3_retreat,0.616707560863,-0.00981824033723,1.07002050235,0.587278708949,-0.00114399801882,1.06969221773
+295,4.916666667,pose2_to_pose3_retreat,0.616423671207,-0.00981810635576,1.07002062403,0.586994817257,-0.00114387160447,1.0696923329
+296,4.933333333,pose2_to_pose3_retreat,0.616123086718,-0.00981818394461,1.07002061994,0.586694233014,-0.00114394850865,1.06969232893
+297,4.950000000,pose2_to_pose3_retreat,0.615804619258,-0.00981813587642,1.07002053662,0.586375764953,-0.0011439027378,1.06969224735
+298,4.966666667,pose2_to_pose3_retreat,0.615462633354,-0.0098182451617,1.07002050806,0.586033780225,-0.00114400849013,1.0696922173
+299,4.983333333,pose2_to_pose3_retreat,0.615096651213,-0.00981830306381,1.0700205074,0.585667798653,-0.00114406477349,1.06969221637
+300,5.000000000,pose2_to_pose3_retreat,0.614703803682,-0.00981820660499,1.07002055617,0.585274949961,-0.00114397243953,1.06969226664
+301,5.016666667,pose2_to_pose3_retreat,0.614285534229,-0.00981822034918,1.07002075798,0.584856680566,-0.00114398673628,1.06969246299
+302,5.033333333,pose2_to_pose3_retreat,0.613841667174,-0.00981820227637,1.07002079655,0.58441281334,-0.00114397009603,1.0696924933
+303,5.050000000,pose2_to_pose3_retreat,0.61338282777,-0.00981827087903,1.0700205732,0.583953976042,-0.0011440314132,1.0696922746
+304,5.066666667,pose2_to_pose3_retreat,0.612912343555,-0.00981824417594,1.0700204214,0.583483491412,-0.00114400587447,1.06969213082
+305,5.083333333,pose2_to_pose3_retreat,0.61243169329,-0.0098182340038,1.07002049184,0.583002841442,-0.00114399452571,1.06969220643
+306,5.100000000,pose2_to_pose3_retreat,0.611940234735,-0.0098182222663,1.07002062134,0.582511383102,-0.00114398218519,1.06969233258
+307,5.116666667,pose2_to_pose3_retreat,0.611432941087,-0.00981817253748,1.07002065287,0.582004088738,-0.00114393519882,1.06969235574
+308,5.133333333,pose2_to_pose3_retreat,0.610904240526,-0.00981810533295,1.0700206273,0.581475388419,-0.00114386689641,1.06969233751
+309,5.150000000,pose2_to_pose3_retreat,0.610348863984,-0.00981822561848,1.07002063726,0.580920011779,-0.00114398768758,1.06969234309
+310,5.166666667,pose2_to_pose3_retreat,0.609773568826,-0.00981827058545,1.07002056276,0.580344716394,-0.00114403349114,1.06969226672
+311,5.183333333,pose2_to_pose3_retreat,0.609180091197,-0.00981820835022,1.07002052176,0.579751238069,-0.0011439735631,1.06969222657
+312,5.200000000,pose2_to_pose3_retreat,0.60856289326,-0.00981812288292,1.07002055692,0.579134039515,-0.00114389009163,1.06969226376
+313,5.216666667,pose2_to_pose3_retreat,0.607926980497,-0.00981812983852,1.07002062454,0.578498127483,-0.00114389450692,1.06969233266
+314,5.233333333,pose2_to_pose3_retreat,0.607278055595,-0.00981823658399,1.07002061265,0.577849204816,-0.00114399368565,1.06969232039
+315,5.250000000,pose2_to_pose3_retreat,0.60661959578,-0.00981813698542,1.07002040798,0.577190742067,-0.00114390411115,1.06969211382
+316,5.266666667,pose2_to_pose3_retreat,0.60595392176,-0.00981823859733,1.07002037808,0.576525069219,-0.00114400160923,1.06969208746
+317,5.283333333,pose2_to_pose3_retreat,0.605287439522,-0.00981821849449,1.07002062099,0.575858586456,-0.00114398336922,1.06969232818
+318,5.300000000,pose2_to_pose3_retreat,0.604617277593,-0.0098181410664,1.07002062823,0.575188423768,-0.00114390842458,1.06969233778
+319,5.316666667,pose2_to_pose3_retreat,0.603933918072,-0.00981813855557,1.07002041074,0.574505064627,-0.00114390446883,1.06969212437
+320,5.333333333,pose2_to_pose3_retreat,0.603228370102,-0.0098182543665,1.07002030291,0.573799518179,-0.00114401518676,1.06969201465
+321,5.350000000,pose2_to_pose3_retreat,0.602490544009,-0.00981814224389,1.07002062651,0.573061691068,-0.00114390666024,1.06969233435
+322,5.366666667,pose2_to_pose3_retreat,0.601729455952,-0.00981838835608,1.07002055739,0.572300605147,-0.0011441458567,1.06969225647
+323,5.383333333,pose2_to_pose3_retreat,0.600948230242,-0.00981827313506,1.07002051052,0.571519377738,-0.00114403615324,1.06969221606
+324,5.400000000,pose2_to_pose3_retreat,0.600181470227,-0.00981820347344,1.07002034417,0.570752616758,-0.00114396971127,1.06969205108
+325,5.416666667,pose2_to_pose3_retreat,0.599432379523,-0.00981823413417,1.07002046802,0.570003527302,-0.00114399607876,1.06969217651
+326,5.433333333,pose2_to_pose3_retreat,0.598697749547,-0.00981822859907,1.07002051597,0.569268897247,-0.0011439907018,1.06969222721
+327,5.450000000,pose2_to_pose3_retreat,0.59796888753,-0.00981813265328,1.0700203922,0.568540033102,-0.00114390194953,1.06969210412
+328,5.466666667,pose2_to_pose3_retreat,0.597239106014,-0.00981805025958,1.0700205184,0.567810251058,-0.00114382155485,1.06969222482
+329,5.483333333,pose2_to_pose3_retreat,0.596482699365,-0.00981838591472,1.0700206571,0.567053848196,-0.00114414463471,1.06969235617
+330,5.500000000,pose2_to_pose3_retreat,0.595703592155,-0.00981826927817,1.07002044251,0.56627473945,-0.00114403303217,1.06969214633
+331,5.516666667,pose2_to_pose3_retreat,0.59492499215,-0.0098182005483,1.0700203996,0.565496140695,-0.00114395995339,1.06969210614
+332,5.533333333,pose2_to_pose3_retreat,0.594159606649,-0.00981817537295,1.07002039282,0.564730754223,-0.00114393802679,1.06969210055
+333,5.550000000,pose2_to_pose3_retreat,0.593424073909,-0.00981819766741,1.07002044484,0.563995220461,-0.00114396383937,1.06969215117
+334,5.566666667,pose2_to_pose3_retreat,0.59271208977,-0.00981824572828,1.0700205169,0.563283237008,-0.00114400960329,1.06969222239
+335,5.583333333,pose2_to_pose3_retreat,0.592019294236,-0.00981826114959,1.07002051195,0.562590442486,-0.00114402145569,1.06969222103
+336,5.600000000,pose2_to_pose3_retreat,0.591325709739,-0.00981816639988,1.07002062802,0.561896856209,-0.00114393293823,1.06969233186
+337,5.616666667,pose2_to_pose3_retreat,0.590626664032,-0.00981823490101,1.0700207616,0.561197811752,-0.0011439974492,1.06969245891
+338,5.633333333,pose2_to_pose3_retreat,0.589921600252,-0.00981814865338,1.07002070604,0.560492747151,-0.00114391383529,1.06969240726
+339,5.650000000,pose2_to_pose3_retreat,0.589217376246,-0.00981814864498,1.07002049056,0.559788523043,-0.00114391372473,1.06969220358
+340,5.666666667,pose2_to_pose3_retreat,0.588518608449,-0.00981819411677,1.07002049088,0.559089755588,-0.0011439579398,1.06969220639
+341,5.683333333,pose2_to_pose3_retreat,0.587841575997,-0.00981817186746,1.07002070045,0.55841272265,-0.00114393776855,1.0696924046
+342,5.700000000,pose2_to_pose3_retreat,0.58718734265,-0.0098182183366,1.07002057018,0.557758489674,-0.00114398314102,1.0696922701
+343,5.716666667,pose2_to_pose3_retreat,0.586554533735,-0.00981816695747,1.07002074198,0.557125681181,-0.00114393009076,1.06969244819
+344,5.733333333,pose2_to_pose3_retreat,0.585940986267,-0.00981831838272,1.07002049403,0.556512135325,-0.00114407634225,1.0696921924
+345,5.750000000,pose2_to_pose3_retreat,0.585342693635,-0.00981822956613,1.07002032452,0.555913841141,-0.00114399258386,1.06969202837
+346,5.766666667,pose2_to_pose3_retreat,0.584758148779,-0.00981818319258,1.07002052588,0.555329296941,-0.00114394385431,1.06969223313
+347,5.783333333,pose2_to_pose3_retreat,0.584189027579,-0.00981824876434,1.07002054296,0.554760177021,-0.00114400486488,1.06969225598
+348,5.800000000,pose2_to_pose3_retreat,0.58363851865,-0.0098183220971,1.07002031634,0.554209667594,-0.0011440796182,1.06969203638
+349,5.816666667,pose2_to_pose3_retreat,0.583110205597,-0.00981828398622,1.07002069487,0.553681353903,-0.00114404398062,1.06969240677
+350,5.833333333,pose2_to_pose3_retreat,0.582605715141,-0.00981833653813,1.07002025509,0.553176864392,-0.00114409305117,1.06969197422
+351,5.850000000,pose2_to_pose3_retreat,0.582118905007,-0.00981813666689,1.07002064465,0.552690052449,-0.00114389988556,1.06969234878
+352,5.866666667,pose2_to_pose3_retreat,0.5816447818,-0.00981818003001,1.07002061318,0.552215928892,-0.00114394443818,1.06969231783
+353,5.883333333,pose2_to_pose3_retreat,0.581180429258,-0.00981825758604,1.07002050214,0.551751577731,-0.00114401713483,1.06969221166
+354,5.900000000,pose2_to_pose3_retreat,0.580728186954,-0.00981817240869,1.07002044529,0.551299335002,-0.00114393330609,1.0696921574
+355,5.916666667,pose2_to_pose3_retreat,0.580302604573,-0.0098180649075,1.0700204729,0.55087375076,-0.00114383224706,1.0696921818
+356,5.933333333,pose2_to_pose3_retreat,0.579905132519,-0.0098182148135,1.0700207933,0.550476281486,-0.00114397324504,1.06969248783
+357,5.950000000,pose2_to_pose3_retreat,0.579537527301,-0.00981814891233,1.07002068485,0.550108674051,-0.00114391473444,1.06969238252
+358,5.966666667,pose2_to_pose3_retreat,0.57919371449,-0.00981819865197,1.07002035763,0.549764862888,-0.0011439585117,1.0696920652
+359,5.983333333,pose2_to_pose3_retreat,0.578872390601,-0.00981824055001,1.07002042287,0.549443538811,-0.00114400108222,1.0696921296
+360,6.000000000,pose2_to_pose3_retreat,0.57856352279,-0.00981829376225,1.07002063605,0.549134671649,-0.00114405222357,1.06969233928
+361,6.016666667,pose2_to_pose3_retreat,0.57826710846,-0.00981828350681,1.07002074312,0.548838257451,-0.00114404160527,1.06969244411
+362,6.033333333,pose2_to_pose3_retreat,0.577990339127,-0.00981819290977,1.07002062234,0.548561485923,-0.00114395849666,1.06969232242
+363,6.050000000,pose2_to_pose3_retreat,0.577731292546,-0.00981836310657,1.07002039921,0.548302442135,-0.00114411908957,1.06969210296
+364,6.066666667,pose2_to_pose3_retreat,0.577490471845,-0.00981821103227,1.07002038833,0.548061618462,-0.00114397695929,1.0696920956
+365,6.083333333,pose2_to_pose3_retreat,0.57726892238,-0.00981819729864,1.07002070766,0.547840069559,-0.0011439616911,1.0696924052
+366,6.100000000,pose2_to_pose3_retreat,0.577067889301,-0.00981822216179,1.07002063976,0.547639037227,-0.00114398397824,1.06969233844
+367,6.116666667,pose2_to_pose3_retreat,0.576884787161,-0.00981827682084,1.0700205166,0.547455935857,-0.00114403573459,1.06969222289
+368,6.133333333,pose2_to_pose3_retreat,0.57671978711,-0.00981828619089,1.07002059371,0.547290935969,-0.00114404453133,1.06969230038
+369,6.150000000,pose2_to_pose3_retreat,0.576573650487,-0.00981821303902,1.07002080349,0.547144798463,-0.00114397476679,1.06969249982
+370,6.166666667,pose2_to_pose3_retreat,0.576443516814,-0.00981823418062,1.07002078451,0.547014664461,-0.00114399688993,1.0696924846
+371,6.183333333,pose2_to_pose3_retreat,0.576328428903,-0.00981817739067,1.07002055463,0.546899576649,-0.0011439393277,1.06969226629
+372,6.200000000,pose2_to_pose3_retreat,0.576225028237,-0.00981810185804,1.0700205807,0.546796175383,-0.00114386595185,1.06969228907
+373,6.216666667,pose2_to_pose3_retreat,0.576132621097,-0.00981808544196,1.07002070993,0.546703768051,-0.00114385050184,1.06969241008
+374,6.233333333,pose2_to_pose3_retreat,0.576049916265,-0.00981812086716,1.07002077274,0.54662106328,-0.00114388590047,1.06969246829
+375,6.250000000,pose2_to_pose3_retreat,0.575976701194,-0.00981808719624,1.07002067592,0.546547846558,-0.0011438577914,1.06969237284
+376,6.266666667,pose2_to_pose3_retreat,0.575913691265,-0.00981814413273,1.0700207369,0.546484838084,-0.00114390931361,1.06969244646
+377,6.283333333,pose2_to_pose3_retreat,0.575859926154,-0.00981823350748,1.07002065363,0.546431074688,-0.00114399282767,1.06969236415
+378,6.300000000,pose2_to_pose3_retreat,0.575815479845,-0.00981822628988,1.07002063407,0.546386627931,-0.00114398725832,1.06969234121
+379,6.316666667,pose2_to_pose3_retreat,0.575778885428,-0.00981817962649,1.07002052694,0.54635003285,-0.00114394288216,1.06969223315
+380,6.333333333,pose2_to_pose3_retreat,0.575749522527,-0.00981816152635,1.07002037375,0.546320670144,-0.00114392400448,1.06969208303
+381,6.350000000,pose2_to_pose3_retreat,0.575726490473,-0.00981819086815,1.07002037651,0.54629763853,-0.00114395171405,1.0696920895
+382,6.366666667,pose2_to_pose3_retreat,0.57570881597,-0.00981816979624,1.0700206108,0.546279962429,-0.00114393634722,1.06969231628
+383,6.383333333,pose2_to_pose3_retreat,0.575695685631,-0.00981826044359,1.07002064827,0.546266833694,-0.00114402160519,1.06969235236
+384,6.400000000,pose2_to_pose3_retreat,0.575686222969,-0.00981825142372,1.07002060628,0.54625737093,-0.00114401300138,1.06969230856
+385,6.416666667,pose2_to_pose3_retreat,0.575680181782,-0.00981817309318,1.0700205464,0.546251328305,-0.00114393964075,1.06969224627
+386,6.433333333,pose2_to_pose3_retreat,0.575676049039,-0.00981826125396,1.07002055982,0.546247197616,-0.00114402099328,1.06969225553
+387,6.450000000,pose2_to_pose3_retreat,0.575673310657,-0.00981832162449,1.07002056655,0.546244460587,-0.00114407686457,1.06969225981
+388,6.466666667,pose2_to_pose3_retreat,0.575671817809,-0.00981830758201,1.07002049288,0.546242966476,-0.00114406686086,1.06969219269
+389,6.483333333,pose2_to_pose3_retreat,0.575670756995,-0.00981829760346,1.07002044053,0.546241904765,-0.00114405975226,1.06969214499
+390,6.500000000,pose2_to_pose3_retreat,0.575669738236,-0.00981828802051,1.07002039025,0.546240885144,-0.00114405292547,1.06969209918
+391,6.516666667,pose2_to_pose3_retreat,0.575669048944,-0.00981829502732,1.07002042161,0.546240195858,-0.00114405991,1.06969213053
+392,6.533333333,pose2_to_pose3_retreat,0.575668633017,-0.0098183007739,1.07002044788,0.546239780001,-0.00114406543071,1.06969215646
+393,6.550000000,pose2_to_pose3_retreat,0.575668508714,-0.00981830249131,1.07002045574,0.546239655719,-0.00114406708062,1.06969216421
+394,6.566666667,pose2_to_pose3_retreat,0.575668376984,-0.00981830431134,1.07002046406,0.546239524011,-0.00114406882912,1.06969217243
+395,6.583333333,pose2_to_pose3_retreat,0.575668182055,-0.00981830700454,1.07002047638,0.546239329114,-0.00114407141647,1.06969218458
+396,6.600000000,pose2_to_pose3_retreat,0.57566799632,-0.00981830957071,1.07002048811,0.546239143411,-0.00114407388177,1.06969219616
+397,6.616666667,pose2_to_pose3_retreat,0.575667801681,-0.00981831225991,1.07002050041,0.546238948805,-0.00114407646527,1.0696922083
+398,6.633333333,pose2_to_pose3_retreat,0.575667704598,-0.00981831240602,1.07002050217,0.546238851754,-0.00114407649975,1.06969221012
+399,6.650000000,pose2_to_pose3_retreat,0.57566759511,-0.0098183064182,1.07002048164,0.546238742384,-0.00114407008275,1.06969219038
+400,6.666666667,pose2_to_pose3_retreat,0.575667466444,-0.00981829938151,1.07002045752,0.546238613856,-0.00114406254171,1.06969216719
+401,6.683333333,pose2_to_pose3_retreat,0.575667356877,-0.00981829338939,1.07002043698,0.546238504408,-0.00114405612011,1.06969214744
+402,6.700000000,pose2_to_pose3_retreat,0.575667253491,-0.00981828773525,1.0700204176,0.546238401133,-0.0011440500607,1.06969212881
+403,6.716666667,pose2_to_pose3_retreat,0.575667170775,-0.00981828321157,1.07002040209,0.546238318506,-0.00114404521279,1.0696921139
+404,6.733333333,pose2_to_pose3_retreat,0.575666921104,-0.00981826680234,1.07002036051,0.546238068696,-0.00114402918194,1.06969207482
+405,6.750000000,pose2_to_pose3_retreat,0.575666817303,-0.00981825586209,1.07002035103,0.546237964228,-0.00114402042752,1.06969206743
+406,6.766666667,pose2_to_pose3_retreat,0.57566676818,-0.00981824824692,1.07002034658,0.546237914807,-0.00114401378542,1.06969206394
+407,6.783333333,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914777,-0.00114400271446,1.06969206398

Obstacle_avoidance/cylinder_15A_10/position_08/depth_03/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db22fd801cb3957fa58aa14c1508a224d6b3fd32222948428da0c3e26e1eea1f
+size 25849979

Obstacle_avoidance/cylinder_15A_10/position_08/depth_03/simulation_data.csv

@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+1,0.016666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+2,0.033333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+3,0.050000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+4,0.066666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+5,0.083333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+6,0.100000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+7,0.116666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+8,0.133333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+9,0.150000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+10,0.166666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+11,0.183333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+12,0.200000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+13,0.216666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+14,0.233333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+15,0.250000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+16,0.266666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+17,0.283333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+18,0.300000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+19,0.316666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+20,0.333333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+21,0.350000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+22,0.366666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+23,0.383333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+24,0.400000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+25,0.416666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+26,0.433333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+27,0.450000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+28,0.466666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+29,0.483333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+30,0.500000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+31,0.516666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+32,0.533333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+33,0.550000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+34,0.566666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+35,0.583333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+36,0.600000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+37,0.616666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+38,0.633333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+39,0.650000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+40,0.666666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+41,0.683333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+42,0.700000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+43,0.716666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+44,0.733333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+45,0.750000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+46,0.766666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+47,0.783333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+48,0.800000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+49,0.816666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+50,0.833333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+51,0.850000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+52,0.866666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+53,0.883333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+54,0.900000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+55,0.916666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+56,0.933333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+57,0.950000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+58,0.966666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+59,0.983333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+60,1.000000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+61,1.016666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+62,1.033333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+63,1.050000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+64,1.066666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+65,1.083333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+66,1.100000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+67,1.116666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+68,1.133333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+69,1.150000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+70,1.166666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+71,1.183333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+72,1.200000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+73,1.216666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+74,1.233333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+75,1.250000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+76,1.266666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+77,1.283333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+78,1.300000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+79,1.316666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+80,1.333333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+81,1.350000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+82,1.366666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+83,1.383333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+84,1.400000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+85,1.416666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+86,1.433333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+87,1.450000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+88,1.466666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+89,1.483333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+90,1.500000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+91,1.516666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+92,1.533333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+93,1.550000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+94,1.566666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+95,1.583333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+96,1.600000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+97,1.616666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+98,1.633333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+99,1.650000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+100,1.666666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+101,1.683333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+102,1.700000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+103,1.716666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+104,1.733333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+105,1.750000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+106,1.766666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+107,1.783333333,pose1_to_pose2_press,0.575666768205,-0.00981824323672,1.07002034654,0.546237914814,-0.00114400883609,1.06969206393
+108,1.800000000,pose1_to_pose2_press,0.5756667834,-0.0098182336983,1.07002035561,0.546237930184,-0.00114399877626,1.06969207105
+109,1.816666667,pose1_to_pose2_press,0.575666819492,-0.00981821104169,1.07002037714,0.546237966693,-0.00114397488116,1.06969208796
+110,1.833333333,pose1_to_pose2_press,0.575667009524,-0.00981818919418,1.07002046653,0.546238156892,-0.00114395273139,1.06969217031
+111,1.850000000,pose1_to_pose2_press,0.57566712989,-0.00981819076744,1.07002051937,0.546238277044,-0.00114395509672,1.0696922214
+112,1.866666667,pose1_to_pose2_press,0.575667173012,-0.00981819133106,1.07002053829,0.546238320089,-0.00114395594411,1.06969223971
+113,1.883333333,pose1_to_pose2_press,0.575667512703,-0.00981820025162,1.07002067203,0.546238659298,-0.00114396666246,1.06969236919
+114,1.900000000,pose1_to_pose2_press,0.57566903584,-0.00981841969575,1.0700204994,0.546240185784,-0.00114417432021,1.06969220775
+115,1.916666667,pose1_to_pose2_press,0.575673662744,-0.009818313812,1.07002046178,0.546244811442,-0.00114407283472,1.06969216564
+116,1.933333333,pose1_to_pose2_press,0.575684082161,-0.00981834124252,1.07002065215,0.546255230524,-0.00114410152654,1.06969235262
+117,1.950000000,pose1_to_pose2_press,0.575702045181,-0.00981825629042,1.07002055078,0.546273193544,-0.00114401634906,1.06969225712
+118,1.966666667,pose1_to_pose2_press,0.575730798478,-0.00981823538508,1.07002046332,0.546301945687,-0.00114399952046,1.06969216536
+119,1.983333333,pose1_to_pose2_press,0.575770175695,-0.00981819647237,1.07002053667,0.546341323321,-0.00114395920749,1.06969223824
+120,2.000000000,pose1_to_pose2_press,0.57582053662,-0.00981819769379,1.07002048312,0.546391683457,-0.00114396296383,1.06969218843
+121,2.016666667,pose1_to_pose2_press,0.575880078579,-0.00981820692567,1.07002050265,0.546451225491,-0.00114397178826,1.06969221189
+122,2.033333333,pose1_to_pose2_press,0.575948760755,-0.00981814454835,1.07002054309,0.546519907397,-0.00114391018549,1.06969225597
+123,2.050000000,pose1_to_pose2_press,0.576025512285,-0.00981817009642,1.07002067738,0.546596658648,-0.00114393719326,1.06969237657
+124,2.066666667,pose1_to_pose2_press,0.576110463828,-0.0098182880842,1.07002078342,0.546681613157,-0.00114404509083,1.06969248326
+125,2.083333333,pose1_to_pose2_press,0.576205552526,-0.009818294312,1.07002061009,0.546776702327,-0.00114404940974,1.06969231808
+126,2.100000000,pose1_to_pose2_press,0.57631155931,-0.00981813944189,1.07002042116,0.546882705412,-0.00114390708939,1.06969212925
+127,2.116666667,pose1_to_pose2_press,0.576431092225,-0.00981804859027,1.07002056605,0.547002236902,-0.0011438212206,1.06969227019
+128,2.133333333,pose1_to_pose2_press,0.576563017911,-0.00981823784598,1.07002080733,0.54713416591,-0.00114399960712,1.06969250075
+129,2.150000000,pose1_to_pose2_press,0.576706848525,-0.00981816281498,1.07002065986,0.547277993814,-0.00114393343562,1.06969236219
+130,2.166666667,pose1_to_pose2_press,0.576864403243,-0.00981827486581,1.07002043846,0.547435552161,-0.00114403299097,1.06969214551
+131,2.183333333,pose1_to_pose2_press,0.57703618157,-0.00981827529911,1.07002041548,0.547607330004,-0.00114403530351,1.06969211624
+132,2.200000000,pose1_to_pose2_press,0.577225974779,-0.00981823740446,1.07002041958,0.547797121985,-0.00114400159462,1.06969211965
+133,2.216666667,pose1_to_pose2_press,0.577436272939,-0.00981817739249,1.07002041126,0.54800741916,-0.00114394485058,1.06969211328
+134,2.233333333,pose1_to_pose2_press,0.577671054326,-0.00981815875812,1.07002049187,0.548242200514,-0.00114392636114,1.06969219292
+135,2.250000000,pose1_to_pose2_press,0.577928312785,-0.0098182321791,1.07002062306,0.548499460741,-0.00114399370816,1.06969232611
+136,2.266666667,pose1_to_pose2_press,0.578206795654,-0.00981818484595,1.07002052555,0.548777943334,-0.0011439472605,1.0696922299
+137,2.283333333,pose1_to_pose2_press,0.578503971448,-0.00981820604979,1.07002050659,0.549075119141,-0.00114396832867,1.06969221332
+138,2.300000000,pose1_to_pose2_press,0.578818375065,-0.00981841659169,1.07002039146,0.549389525018,-0.00114417122602,1.06969209755
+139,2.316666667,pose1_to_pose2_press,0.579150956432,-0.00981824813556,1.07002061129,0.549722105865,-0.00114400445249,1.06969231947
+140,2.333333333,pose1_to_pose2_press,0.579502232068,-0.00981825022372,1.07002040564,0.550073380888,-0.00114400843184,1.06969211878
+141,2.350000000,pose1_to_pose2_press,0.579874038175,-0.00981826896303,1.07002046784,0.550445185949,-0.00114403085156,1.06969217747
+142,2.366666667,pose1_to_pose2_press,0.580263878699,-0.00981815226104,1.07002050247,0.550835025154,-0.00114391864284,1.06969221153
+143,2.383333333,pose1_to_pose2_press,0.580670864301,-0.0098181297248,1.0700206303,0.551242010858,-0.00114389585876,1.06969233677
+144,2.400000000,pose1_to_pose2_press,0.581097892024,-0.0098182135479,1.07002060994,0.551669039864,-0.00114397529431,1.06969231726
+145,2.416666667,pose1_to_pose2_press,0.581547937189,-0.00981824716218,1.07002041021,0.552119085516,-0.00114400703961,1.06969212323
+146,2.433333333,pose1_to_pose2_press,0.582028745096,-0.00981819629319,1.07002045011,0.552599891683,-0.00114396219234,1.06969215995
+147,2.450000000,pose1_to_pose2_press,0.582537933463,-0.0098181127089,1.07002032238,0.553109077968,-0.00114388579708,1.06969202891
+148,2.466666667,pose1_to_pose2_press,0.583074328946,-0.00981816824588,1.0700206,0.553645477361,-0.00114392780932,1.06969231333
+149,2.483333333,pose1_to_pose2_press,0.583624637448,-0.00981825509823,1.07002054729,0.554195784139,-0.00114402103289,1.06969224681
+150,2.500000000,pose1_to_pose2_press,0.584183197081,-0.00981825220939,1.07002064031,0.554754344744,-0.00114401468699,1.06969234402
+151,2.516666667,pose1_to_pose2_press,0.58474700587,-0.00981830289763,1.07002075612,0.555318154169,-0.00114406335132,1.06969245628
+152,2.533333333,pose1_to_pose2_press,0.585322764329,-0.00981825273668,1.07002064675,0.555893912797,-0.00114401290077,1.06969233937
+153,2.550000000,pose1_to_pose2_press,0.585917646867,-0.00981824130281,1.07002069576,0.556488795607,-0.00114400031861,1.0696923944
+154,2.566666667,pose1_to_pose2_press,0.58653557056,-0.009818197455,1.07002062576,0.557106718641,-0.00114395836099,1.06969233347
+155,2.583333333,pose1_to_pose2_press,0.587175082703,-0.00981817888209,1.07002039348,0.557746230319,-0.00114394121025,1.06969210529
+156,2.600000000,pose1_to_pose2_press,0.587834420433,-0.00981819962212,1.07002030647,0.558405567448,-0.00114396412355,1.06969201477
+157,2.616666667,pose1_to_pose2_press,0.588509984589,-0.00981813745204,1.07002044701,0.55908112945,-0.00114390958197,1.0696921468
+158,2.633333333,pose1_to_pose2_press,0.589201724257,-0.00981811760819,1.07002051368,0.559772869318,-0.00114388898045,1.06969221561
+159,2.650000000,pose1_to_pose2_press,0.58990515256,-0.00981823468144,1.0700204058,0.560476299121,-0.001144000891,1.06969210975
+160,2.666666667,pose1_to_pose2_press,0.590617212041,-0.0098182069816,1.0700205078,0.561188361176,-0.00114396433116,1.06969221506
+161,2.683333333,pose1_to_pose2_press,0.591343752741,-0.00981827658315,1.07002064013,0.561914900704,-0.00114403805498,1.06969234356
+162,2.700000000,pose1_to_pose2_press,0.592082660384,-0.00981807930198,1.07002052205,0.562653807815,-0.0011438423534,1.06969223154
+163,2.716666667,pose1_to_pose2_press,0.592823314604,-0.00981817520343,1.0700204934,0.563394462178,-0.00114393766386,1.06969220569
+164,2.733333333,pose1_to_pose2_press,0.593565952439,-0.00981827904636,1.07002033404,0.564137100276,-0.00114404066798,1.06969204494
+165,2.750000000,pose1_to_pose2_press,0.594308041464,-0.00981826098477,1.07002047985,0.564879189917,-0.00114402068117,1.06969218647
+166,2.766666667,pose1_to_pose2_press,0.595050483643,-0.0098182358815,1.07002053996,0.565621631745,-0.00114399688791,1.0696922433
+167,2.783333333,pose1_to_pose2_press,0.595797320131,-0.00981823776322,1.0700205076,0.566368467287,-0.0011440020935,1.06969220802
+168,2.800000000,pose1_to_pose2_press,0.596547442722,-0.00981824314568,1.07002065942,0.567118590103,-0.00114400674658,1.069692359
+169,2.816666667,pose1_to_pose2_press,0.597306758911,-0.00981830574546,1.07002062669,0.567877907002,-0.00114406668015,1.06969233309
+170,2.833333333,pose1_to_pose2_press,0.598086641405,-0.00981821943685,1.07002065831,0.568657787216,-0.00114398842823,1.06969235632
+171,2.850000000,pose1_to_pose2_press,0.598872284672,-0.0098182549899,1.07002051204,0.569443432457,-0.0011440169482,1.06969221893
+172,2.866666667,pose1_to_pose2_press,0.599656733693,-0.0098182472781,1.07002041271,0.570227882409,-0.00114400619841,1.06969211655
+173,2.883333333,pose1_to_pose2_press,0.600430071511,-0.00981823735164,1.07002074111,0.571001220786,-0.00114399459987,1.06969243901
+174,2.900000000,pose1_to_pose2_press,0.601187715614,-0.00981825408629,1.07002069382,0.571758863145,-0.00114401721595,1.06969239267
+175,2.916666667,pose1_to_pose2_press,0.601936572195,-0.00981825335839,1.07002049313,0.572507720577,-0.00114401347504,1.06969219536
+176,2.933333333,pose1_to_pose2_press,0.602677649052,-0.00981833174522,1.07002038527,0.573248798333,-0.00114408859501,1.06969209335
+177,2.950000000,pose1_to_pose2_press,0.603411618423,-0.00981827428505,1.07002032794,0.573982766651,-0.00114403472881,1.0696920355
+178,2.966666667,pose1_to_pose2_press,0.604152421607,-0.00981822202539,1.07002043236,0.574723569337,-0.00114398433367,1.06969213532
+179,2.983333333,pose1_to_pose2_press,0.604902323166,-0.00981830399168,1.07002068465,0.575473472227,-0.00114406172602,1.06969238921
+180,3.000000000,pose1_to_pose2_press,0.605640448311,-0.00981828067561,1.07002059964,0.576211597663,-0.00114403719979,1.06969231022
+181,3.016666667,pose1_to_pose2_press,0.606361146503,-0.00981837542783,1.0700203079,0.576932296441,-0.00114412985275,1.06969202145
+182,3.033333333,pose1_to_pose2_press,0.607044238084,-0.00981833395235,1.07002061138,0.577615388188,-0.00114408798798,1.06969232045
+183,3.050000000,pose1_to_pose2_press,0.607693760648,-0.00981830740784,1.07002062222,0.578264909518,-0.00114406567871,1.06969233001
+184,3.066666667,pose1_to_pose2_press,0.608313674915,-0.0098182551909,1.07002054167,0.578884823732,-0.00114401370394,1.06969224786
+185,3.083333333,pose1_to_pose2_press,0.608921900713,-0.00981834732834,1.07002052616,0.579493050128,-0.00114410386823,1.06969223091
+186,3.100000000,pose1_to_pose2_press,0.609527668653,-0.00981829579433,1.07002049343,0.580098816504,-0.00114405741819,1.06969220406
+187,3.116666667,pose1_to_pose2_press,0.610142037652,-0.00981827650411,1.07002043571,0.580713185227,-0.00114403902587,1.06969214749
+188,3.133333333,pose1_to_pose2_press,0.610757905081,-0.00981838185062,1.07002040213,0.581329054538,-0.00114413821485,1.06969210793
+189,3.150000000,pose1_to_pose2_press,0.61136272076,-0.00981837348476,1.07002043912,0.581933870263,-0.00114412969691,1.06969214494
+190,3.166666667,pose1_to_pose2_press,0.611943838859,-0.00981824304491,1.07002054463,0.582514987083,-0.00114400357957,1.06969225091
+191,3.183333333,pose1_to_pose2_press,0.612495200941,-0.00981819677813,1.07002062332,0.583066348275,-0.00114396052033,1.06969232474
+192,3.200000000,pose1_to_pose2_press,0.613017124279,-0.00981836554451,1.07002038,0.583588273766,-0.00114412170025,1.06969208874
+193,3.216666667,pose1_to_pose2_press,0.613511392988,-0.00981815564419,1.07002061993,0.584082539974,-0.00114392030217,1.06969232486
+194,3.233333333,pose1_to_pose2_press,0.613981044651,-0.00981817263332,1.07002054619,0.584552191486,-0.00114393743438,1.06969225209
+195,3.250000000,pose1_to_pose2_press,0.614430663943,-0.00981827849565,1.07002060203,0.585001812701,-0.00114403651264,1.06969230527
+196,3.266666667,pose1_to_pose2_press,0.614863509473,-0.00981829511098,1.07002050058,0.585434658412,-0.00114405198004,1.0696922076
+197,3.283333333,pose1_to_pose2_press,0.615288269772,-0.00981820156149,1.07002041734,0.585859416631,-0.00114396499266,1.06969212618
+198,3.300000000,pose1_to_pose2_press,0.615706971605,-0.00981819248072,1.07002055178,0.586278118055,-0.00114395703728,1.06969225641
+199,3.316666667,pose1_to_pose2_press,0.616111659959,-0.00981833329142,1.07002059434,0.586682809054,-0.00114408826344,1.06969230319
+200,3.333333333,pose1_to_pose2_press,0.616498463497,-0.00981818308486,1.07002046812,0.587069610295,-0.00114394516218,1.06969217992
+201,3.350000000,pose1_to_pose2_press,0.616855812736,-0.00981815077719,1.07002039417,0.587426960034,-0.0011439108399,1.0696921078
+202,3.366666667,pose1_to_pose2_press,0.61718282695,-0.00981825200708,1.07002063564,0.587753975371,-0.00114400823515,1.06969234166
+203,3.383333333,pose1_to_pose2_press,0.617477968568,-0.0098181107987,1.07002053179,0.588049114605,-0.00114387474765,1.06969223845
+204,3.400000000,pose1_to_pose2_press,0.61775221274,-0.00981818582629,1.07002050006,0.588323358462,-0.0011439504738,1.06969220822
+205,3.416666667,pose1_to_pose2_press,0.61800840401,-0.00981821347887,1.0700204944,0.588579548949,-0.00114398037068,1.06969220521
+206,3.433333333,pose1_to_pose2_press,0.618252860041,-0.00981820605014,1.07002049084,0.588824004734,-0.00114397341119,1.06969220349
+207,3.450000000,pose1_to_pose2_press,0.618485626668,-0.00981824695244,1.07002053662,0.589056772958,-0.00114400872618,1.06969224669
+208,3.466666667,pose1_to_pose2_press,0.618704256918,-0.009818286558,1.07002063633,0.589275404699,-0.00114404315736,1.06969234275
+209,3.483333333,pose1_to_pose2_press,0.61890591405,-0.00981813497395,1.07002060164,0.589477058905,-0.00114390095029,1.06969231618
+210,3.500000000,pose1_to_pose2_press,0.619088561077,-0.00981813060085,1.07002064028,0.58965970622,-0.00114389571284,1.06969234635
+211,3.516666667,pose1_to_pose2_press,0.619253789801,-0.00981810602022,1.07002077464,0.58982493369,-0.00114387550411,1.06969247316
+212,3.533333333,pose1_to_pose2_press,0.619402449753,-0.00981821229843,1.07002064267,0.589973594668,-0.00114397754278,1.06969235222
+213,3.550000000,pose1_to_pose2_press,0.619535259827,-0.00981821651981,1.07002054689,0.590106404881,-0.00114398132648,1.0696922543
+214,3.566666667,pose1_to_pose2_press,0.619655446447,-0.00981814405857,1.07002074004,0.590226591236,-0.00114390985992,1.06969244342
+215,3.583333333,pose1_to_pose2_press,0.619763855241,-0.00981808558508,1.07002069241,0.590334999771,-0.00114385199355,1.06969239884
+216,3.600000000,pose1_to_pose2_press,0.619860302702,-0.00981815406015,1.07002046776,0.590431447428,-0.00114391970628,1.06969217301
+217,3.616666667,pose1_to_pose2_press,0.619944586134,-0.00981826303541,1.07002036159,0.59051573159,-0.0011440259523,1.06969206449
+218,3.633333333,pose1_to_pose2_press,0.620016009274,-0.00981825183308,1.07002034008,0.590587155566,-0.00114401102573,1.06969205134
+219,3.650000000,pose1_to_pose2_press,0.620075966217,-0.00981825223221,1.07002063247,0.590647113159,-0.00114400931695,1.06969233947
+220,3.666666667,pose1_to_pose2_press,0.620125356536,-0.00981832150395,1.07002065917,0.590696503033,-0.00114408057885,1.06969235997
+221,3.683333333,pose1_to_pose2_press,0.62016621541,-0.00981824956834,1.07002076537,0.590737361412,-0.00114401012448,1.0696924669
+222,3.700000000,pose1_to_pose2_press,0.620198887134,-0.00981819855516,1.07002062816,0.590770031421,-0.00114396512534,1.06969232466
+223,3.716666667,pose1_to_pose2_press,0.620226420054,-0.00981826301118,1.07002057046,0.590797565995,-0.00114402431623,1.06969226574
+224,3.733333333,pose1_to_pose2_press,0.620248912654,-0.00981827309141,1.07002061452,0.590820059793,-0.00114403035982,1.06969231141
+225,3.750000000,pose1_to_pose2_press,0.620266013471,-0.00981821050982,1.0700206248,0.590837159401,-0.00114397166636,1.06969232416
+226,3.766666667,pose1_to_pose2_press,0.620278660588,-0.00981820486933,1.07002053547,0.590849805249,-0.00114397025045,1.06969223807
+227,3.783333333,pose1_to_pose2_press,0.620287455397,-0.00981825054624,1.07002052331,0.590858601153,-0.00114401209347,1.06969222922
+228,3.800000000,pose1_to_pose2_press,0.620293381068,-0.00981826133062,1.07002057338,0.590864526933,-0.00114402237372,1.06969228404
+229,3.816666667,pose1_to_pose2_press,0.620296650169,-0.00981825040593,1.07002059805,0.590867795813,-0.00114401214242,1.06969231109
+230,3.833333333,pose1_to_pose2_press,0.620299039087,-0.00981815195552,1.07002055087,0.59087018329,-0.00114391866471,1.06969226211
+231,3.850000000,pose1_to_pose2_press,0.620300825842,-0.009818078321,1.07002051558,0.590871968969,-0.00114384874944,1.06969222548
+232,3.866666667,pose1_to_pose2_press,0.620301764489,-0.00981807763878,1.07002053598,0.590872908296,-0.00114384568431,1.0696922474
+233,3.883333333,pose1_to_pose2_press,0.620302344457,-0.00981808475925,1.07002055631,0.590873488933,-0.00114385047172,1.06969226912
+234,3.900000000,pose1_to_pose2_press,0.620302710235,-0.00981808925003,1.07002056913,0.590873855132,-0.00114385349106,1.06969228281
+235,3.916666667,pose1_to_pose2_press,0.620302793259,-0.00981809026933,1.07002057205,0.590873938252,-0.00114385417639,1.06969228592
+236,3.933333333,pose1_to_pose2_press,0.620302816353,-0.00981809055286,1.07002057285,0.590873961372,-0.00114385436702,1.06969228679
+237,3.950000000,pose1_to_pose2_press,0.620303032094,-0.00981809320159,1.07002058042,0.590874177362,-0.00114385614787,1.06969229487
+238,3.966666667,pose1_to_pose2_press,0.620303497792,-0.00981809894483,1.07002059659,0.590874643587,-0.00114386004871,1.06969231213
+239,3.983333333,pose1_to_pose2_press,0.620304183168,-0.00981811110353,1.07002059751,0.590875328455,-0.00114387395995,1.06969231284
+240,4.000000000,pose1_to_pose2_press,0.62030471762,-0.00981812058479,1.07002059823,0.590875862509,-0.00114388480781,1.0696923134
+241,4.016666667,pose1_to_pose2_press,0.620304949015,-0.00981812658061,1.07002060545,0.590876093881,-0.00114389094935,1.06969231897
+242,4.033333333,pose1_to_pose2_press,0.620305071431,-0.00981813306001,1.07002062134,0.590876216544,-0.00114389672574,1.06969233126
+243,4.050000000,pose1_to_pose2_press,0.620305200953,-0.00981813991551,1.07002063816,0.590876346327,-0.00114390283743,1.06969234427
+244,4.066666667,pose1_to_pose2_press,0.620305284889,-0.00981814452218,1.07002064905,0.590876430426,-0.00114390698142,1.06969235269
+245,4.083333333,pose1_to_pose2_press,0.620305394013,-0.0098181588753,1.070020663,0.590876539475,-0.00114392171884,1.06969236324
+246,4.100000000,pose1_to_pose2_press,0.620305432762,-0.00981813668249,1.07002033644,0.590876578369,-0.0011438992943,1.06969202973
+247,4.116666667,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578373,-0.001143899295,1.06969202973
+248,4.133333333,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578373,-0.00114389929507,1.06969202973
+249,4.150000000,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578373,-0.00114389929514,1.06969202973
+250,4.166666667,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578373,-0.0011438992952,1.06969202973
+251,4.183333333,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578374,-0.00114389929526,1.06969202973
+252,4.200000000,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578374,-0.00114389929532,1.06969202973
+253,4.216666667,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578374,-0.00114389929537,1.06969202973
+254,4.233333333,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578374,-0.00114389929543,1.06969202973
+255,4.250000000,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578374,-0.00114389929548,1.06969202973
+256,4.266666667,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578374,-0.00114389929553,1.06969202973
+257,4.283333333,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578374,-0.00114389929557,1.06969202973
+258,4.300000000,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578375,-0.00114389929562,1.06969202973
+259,4.316666667,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578375,-0.00114389929566,1.06969202973
+260,4.333333333,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578375,-0.0011438992957,1.06969202973
+261,4.350000000,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578375,-0.00114389929574,1.06969202973
+262,4.366666667,pose2_hold,0.620305432762,-0.00981813668249,1.07002033644,0.590876578375,-0.00114389929578,1.06969202973
+263,4.383333333,pose2_to_pose3_retreat,0.620305432762,-0.00981813668249,1.07002033644,0.590876578375,-0.00114389929592,1.06969202973
+264,4.400000000,pose2_to_pose3_retreat,0.620305432001,-0.00981813748649,1.07002033906,0.590876577624,-0.00114390006139,1.06969203243
+265,4.416666667,pose2_to_pose3_retreat,0.620305415992,-0.00981815439412,1.07002039411,0.590876561835,-0.00114391615846,1.06969208931
+266,4.433333333,pose2_to_pose3_retreat,0.620305390462,-0.00981818135847,1.07002048191,0.590876536653,-0.00114394183015,1.06969218002
+267,4.450000000,pose2_to_pose3_retreat,0.620305271811,-0.00981821509851,1.07002065429,0.590876418447,-0.00114397387255,1.06969235742
+268,4.466666667,pose2_to_pose3_retreat,0.620305002423,-0.009818141669,1.07002065958,0.590876148142,-0.00114390364996,1.06969236016
+269,4.483333333,pose2_to_pose3_retreat,0.620304998599,-0.0098181406266,1.07002065966,0.590876144305,-0.00114390265308,1.06969236019
+270,4.500000000,pose2_to_pose3_retreat,0.620304701275,-0.00981818084295,1.07002062009,0.590875847234,-0.00114394192574,1.06969232283
+271,4.516666667,pose2_to_pose3_retreat,0.620304167857,-0.00981826354546,1.07002054514,0.59087531438,-0.00114402254509,1.06969225228
+272,4.533333333,pose2_to_pose3_retreat,0.620301055997,-0.00981823933037,1.07002022517,0.590872202246,-0.0011439988044,1.06969194455
+273,4.550000000,pose2_to_pose3_retreat,0.620293512613,-0.00981827810898,1.07002048531,0.590864660145,-0.00114403346193,1.06969219783
+274,4.566666667,pose2_to_pose3_retreat,0.620278349147,-0.00981822931371,1.07002040199,0.590849494419,-0.00114399234969,1.06969211332
+275,4.583333333,pose2_to_pose3_retreat,0.620254737126,-0.00981813639723,1.07002061963,0.590825882236,-0.00114390028992,1.06969232614
+276,4.600000000,pose2_to_pose3_retreat,0.620220744314,-0.00981818586662,1.07002053133,0.590791889339,-0.00114395021011,1.06969223555
+277,4.616666667,pose2_to_pose3_retreat,0.620177777122,-0.00981815484529,1.07002066181,0.590748922532,-0.00114391783996,1.06969236615
+278,4.633333333,pose2_to_pose3_retreat,0.620125663125,-0.00981810966255,1.07002062283,0.590696808461,-0.00114387326597,1.06969232591
+279,4.650000000,pose2_to_pose3_retreat,0.620065979863,-0.00981809340668,1.07002055507,0.590637124377,-0.0011438601707,1.06969225313
+280,4.666666667,pose2_to_pose3_retreat,0.619998448063,-0.00981815584354,1.07002053301,0.590569593422,-0.00114391944773,1.0696922358
+281,4.683333333,pose2_to_pose3_retreat,0.619920389822,-0.00981821377754,1.07002050502,0.590491535897,-0.00114397476926,1.06969221297
+282,4.700000000,pose2_to_pose3_retreat,0.619831919597,-0.00981820362682,1.07002054539,0.590403065264,-0.00114396615508,1.06969225282
+283,4.716666667,pose2_to_pose3_retreat,0.619731791963,-0.00981818065944,1.07002057113,0.590302937423,-0.00114394395214,1.06969228158
+284,4.733333333,pose2_to_pose3_retreat,0.619618272926,-0.00981818327432,1.07002038668,0.590189418547,-0.00114394623579,1.06969209627
+285,4.750000000,pose2_to_pose3_retreat,0.619489440915,-0.00981825079324,1.07002050937,0.590060587764,-0.00114400974117,1.06969221734
+286,4.766666667,pose2_to_pose3_retreat,0.619344707226,-0.00981813974999,1.07002058755,0.589915852006,-0.00114390575086,1.06969229991
+287,4.783333333,pose2_to_pose3_retreat,0.619183752338,-0.009818224243,1.07002064712,0.589754898861,-0.00114398489121,1.06969235114
+288,4.800000000,pose2_to_pose3_retreat,0.619006645217,-0.00981827349515,1.07002057159,0.589577792507,-0.00114403168154,1.06969227624
+289,4.816666667,pose2_to_pose3_retreat,0.618814197563,-0.0098182587037,1.07002047274,0.589385344942,-0.00114401681067,1.06969217648
+290,4.833333333,pose2_to_pose3_retreat,0.618604931868,-0.00981821217395,1.07002048404,0.589176079087,-0.00114397111597,1.06969218683
+291,4.850000000,pose2_to_pose3_retreat,0.618380714526,-0.00981815745829,1.07002056324,0.588951860368,-0.00114392089432,1.06969227767
+292,4.866666667,pose2_to_pose3_retreat,0.618141511099,-0.00981819227593,1.07002036877,0.588712655477,-0.00114396104736,1.06969208115
+293,4.883333333,pose2_to_pose3_retreat,0.617881558466,-0.0098182656059,1.07002048891,0.588452703265,-0.00114403339874,1.06969219605
+294,4.900000000,pose2_to_pose3_retreat,0.617602881111,-0.00981831144447,1.07002070592,0.588174028521,-0.00114407097649,1.06969240574
+295,4.916666667,pose2_to_pose3_retreat,0.617307086447,-0.00981822213088,1.07002064767,0.587878234371,-0.0011439800999,1.06969235225
+296,4.933333333,pose2_to_pose3_retreat,0.616995360278,-0.00981817629962,1.07002059676,0.587566508064,-0.00114393495486,1.06969230464
+297,4.950000000,pose2_to_pose3_retreat,0.616667422185,-0.00981825985325,1.07002076341,0.587238570476,-0.00114401753856,1.06969246359
+298,4.966666667,pose2_to_pose3_retreat,0.616321950001,-0.00981813797399,1.07002064742,0.586893095242,-0.0011439068958,1.06969235129
+299,4.983333333,pose2_to_pose3_retreat,0.615956181691,-0.00981826196935,1.07002043533,0.586527330142,-0.00114401965131,1.06969214202
+300,5.000000000,pose2_to_pose3_retreat,0.615559040035,-0.00981825085191,1.07002065893,0.586130188274,-0.00114400986715,1.06969235816
+301,5.016666667,pose2_to_pose3_retreat,0.615131429176,-0.00981830412448,1.07002069672,0.585702578494,-0.00114405982886,1.0696923992
+302,5.033333333,pose2_to_pose3_retreat,0.614673765036,-0.00981830355169,1.07002047312,0.585244914621,-0.0011440585799,1.06969218013
+303,5.050000000,pose2_to_pose3_retreat,0.614198660762,-0.00981825478538,1.0700203581,0.584769809168,-0.00114401419453,1.0696920628
+304,5.066666667,pose2_to_pose3_retreat,0.613711234045,-0.00981831599645,1.07002054413,0.584282382716,-0.00114407478231,1.06969224807
+305,5.083333333,pose2_to_pose3_retreat,0.613216538057,-0.0098181930371,1.07002066909,0.583787684746,-0.00114395909816,1.06969236657
+306,5.100000000,pose2_to_pose3_retreat,0.612712244376,-0.00981829947791,1.07002045972,0.583283392947,-0.00114405907809,1.0696921602
+307,5.116666667,pose2_to_pose3_retreat,0.612191115057,-0.00981832062865,1.07002041499,0.582762264423,-0.00114407753063,1.06969211619
+308,5.133333333,pose2_to_pose3_retreat,0.611647890767,-0.0098182117637,1.07002046681,0.582219038227,-0.00114397503904,1.06969217063
+309,5.150000000,pose2_to_pose3_retreat,0.611077850131,-0.00981816062187,1.07002057937,0.581648997143,-0.00114392549642,1.06969228109
+310,5.166666667,pose2_to_pose3_retreat,0.610491664897,-0.00981825109987,1.07002062577,0.58106281464,-0.00114400693002,1.06969232171
+311,5.183333333,pose2_to_pose3_retreat,0.609892617796,-0.00981823462695,1.07002043275,0.580463767268,-0.00114399109894,1.06969213594
+312,5.200000000,pose2_to_pose3_retreat,0.609270730885,-0.00981810033842,1.0700207555,0.579841876432,-0.00114387024288,1.06969245438
+313,5.216666667,pose2_to_pose3_retreat,0.608627683809,-0.00981811900067,1.07002081005,0.57919882872,-0.00114389132626,1.06969250211
+314,5.233333333,pose2_to_pose3_retreat,0.607964735964,-0.00981824466394,1.07002054612,0.578535882871,-0.00114400988294,1.06969224696
+315,5.250000000,pose2_to_pose3_retreat,0.607288306723,-0.00981824224768,1.07002052005,0.577859455279,-0.00114400167919,1.06969222598
+316,5.266666667,pose2_to_pose3_retreat,0.606604500613,-0.00981823583721,1.07002068462,0.577175650215,-0.00114399171557,1.06969239059
+317,5.283333333,pose2_to_pose3_retreat,0.605923765815,-0.00981827291088,1.07002070828,0.576494915106,-0.00114402979548,1.06969241551
+318,5.300000000,pose2_to_pose3_retreat,0.605243368456,-0.00981804337085,1.07002052607,0.57581451309,-0.00114381609266,1.06969223224
+319,5.316666667,pose2_to_pose3_retreat,0.604551008244,-0.00981828422977,1.07002073114,0.575122157143,-0.00114404253626,1.06969243578
+320,5.333333333,pose2_to_pose3_retreat,0.603834722723,-0.0098182075198,1.07002056778,0.574405870851,-0.00114396824601,1.06969227756
+321,5.350000000,pose2_to_pose3_retreat,0.603081686886,-0.0098182423605,1.07002058676,0.573652835419,-0.00114400188864,1.06969229181
+322,5.366666667,pose2_to_pose3_retreat,0.602303514782,-0.00981827051379,1.0700206397,0.572874663935,-0.00114402796545,1.06969234405
+323,5.383333333,pose2_to_pose3_retreat,0.601505066363,-0.00981822971563,1.07002067466,0.572076215122,-0.00114398830474,1.06969238417
+324,5.400000000,pose2_to_pose3_retreat,0.600722437899,-0.00981823101329,1.07002068395,0.571293586567,-0.00114398999858,1.0696923911
+325,5.416666667,pose2_to_pose3_retreat,0.599959017771,-0.00981827693835,1.07002051618,0.570530167088,-0.00114403393981,1.06969221752
+326,5.433333333,pose2_to_pose3_retreat,0.599213902468,-0.00981826736819,1.07002034807,0.569785050548,-0.00114402796561,1.06969206527
+327,5.450000000,pose2_to_pose3_retreat,0.598476402151,-0.00981833067577,1.07002061289,0.569047550259,-0.00114409173056,1.06969231537
+328,5.466666667,pose2_to_pose3_retreat,0.597735535969,-0.00981831403641,1.07002048715,0.568306685707,-0.0011440695327,1.06969219041
+329,5.483333333,pose2_to_pose3_retreat,0.596972095309,-0.00981817216957,1.07002047642,0.56754324376,-0.00114393202337,1.0696921798
+330,5.500000000,pose2_to_pose3_retreat,0.596188328435,-0.00981822490852,1.0700205719,0.566759476842,-0.0011439848251,1.06969227741
+331,5.516666667,pose2_to_pose3_retreat,0.595395292571,-0.00981836945944,1.07002063573,0.56596644183,-0.00114412648423,1.06969234136
+332,5.533333333,pose2_to_pose3_retreat,0.594608210594,-0.00981818286256,1.07002067063,0.565179356794,-0.00114395058381,1.06969236777
+333,5.550000000,pose2_to_pose3_retreat,0.59385098246,-0.00981811377947,1.07002065435,0.564422129133,-0.0011438797125,1.06969235634
+334,5.566666667,pose2_to_pose3_retreat,0.593116803233,-0.00981813015193,1.07002066031,0.563687949006,-0.00114389920474,1.06969236047
+335,5.583333333,pose2_to_pose3_retreat,0.592402250818,-0.00981807762979,1.07002072478,0.562973397203,-0.00114384436553,1.06969243121
+336,5.600000000,pose2_to_pose3_retreat,0.591692789667,-0.0098181437541,1.07002067949,0.562263936925,-0.00114390749987,1.06969238668
+337,5.616666667,pose2_to_pose3_retreat,0.590982463934,-0.0098181851998,1.07002057814,0.561553612026,-0.00114394609736,1.06969228575
+338,5.633333333,pose2_to_pose3_retreat,0.590268914433,-0.00981815307508,1.0700205696,0.560840062104,-0.00114391558301,1.06969227236
+339,5.650000000,pose2_to_pose3_retreat,0.589555201857,-0.00981814971615,1.07002067299,0.560126348133,-0.00114391737667,1.06969236465
+340,5.666666667,pose2_to_pose3_retreat,0.588843093639,-0.00981828626353,1.07002052381,0.559414242442,-0.00114404489052,1.06969222766
+341,5.683333333,pose2_to_pose3_retreat,0.588151507722,-0.00981830091989,1.07002051999,0.558722656391,-0.00114405992794,1.06969222573
+342,5.700000000,pose2_to_pose3_retreat,0.587482831464,-0.00981831470169,1.07002054419,0.558053980717,-0.00114407201561,1.06969224227
+343,5.716666667,pose2_to_pose3_retreat,0.586834179175,-0.00981830149976,1.07002072616,0.557405327903,-0.00114406074478,1.06969242029
+344,5.733333333,pose2_to_pose3_retreat,0.586205737184,-0.00981822864864,1.07002065579,0.556776884278,-0.00114399334866,1.0696923522
+345,5.750000000,pose2_to_pose3_retreat,0.585596979822,-0.00981820407328,1.07002052335,0.556168127153,-0.00114396767702,1.06969222754
+346,5.766666667,pose2_to_pose3_retreat,0.5850032486,-0.00981823930165,1.07002047069,0.555574397246,-0.00114399821931,1.06969218078
+347,5.783333333,pose2_to_pose3_retreat,0.584424199389,-0.00981822151971,1.07002039422,0.554995346623,-0.00114398538057,1.06969210028
+348,5.800000000,pose2_to_pose3_retreat,0.583861299929,-0.0098181719791,1.07002039447,0.554432447702,-0.0011439340285,1.06969210003
+349,5.816666667,pose2_to_pose3_retreat,0.583317909721,-0.00981816944446,1.07002061395,0.553889057643,-0.00114393112083,1.06969231607
+350,5.833333333,pose2_to_pose3_retreat,0.58279943528,-0.0098181922494,1.0700206692,0.553370583417,-0.00114395337165,1.06969236664
+351,5.850000000,pose2_to_pose3_retreat,0.582301471597,-0.00981826713283,1.0700205974,0.552872619721,-0.00114402823055,1.06969229667
+352,5.866666667,pose2_to_pose3_retreat,0.581819747753,-0.00981828578341,1.07002057769,0.552390895619,-0.0011440476084,1.06969228081
+353,5.883333333,pose2_to_pose3_retreat,0.581350224937,-0.00981821284871,1.07002064107,0.551921372175,-0.00114397672301,1.06969234635
+354,5.900000000,pose2_to_pose3_retreat,0.580893398154,-0.00981818594992,1.07002059827,0.551464544787,-0.00114395181595,1.06969230517
+355,5.916666667,pose2_to_pose3_retreat,0.580457682247,-0.00981835598452,1.07002041061,0.551028830994,-0.001144114805,1.06969211414
+356,5.933333333,pose2_to_pose3_retreat,0.580046529623,-0.00981815687036,1.07002053505,0.550617676877,-0.00114392094178,1.06969223427
+357,5.950000000,pose2_to_pose3_retreat,0.579666623179,-0.00981815799114,1.07002060244,0.550237770732,-0.00114392073808,1.06969230983
+358,5.966666667,pose2_to_pose3_retreat,0.579313077428,-0.00981819154814,1.07002052157,0.549884226045,-0.00114395036959,1.0696922374
+359,5.983333333,pose2_to_pose3_retreat,0.578984158498,-0.00981818536819,1.07002049449,0.549555306582,-0.00114394618365,1.06969220558
+360,6.000000000,pose2_to_pose3_retreat,0.578670107235,-0.0098181756805,1.07002053765,0.549241254167,-0.00114394080255,1.06969223821
+361,6.016666667,pose2_to_pose3_retreat,0.578369222809,-0.00981822826742,1.0700205277,0.548940370596,-0.00114399040468,1.06969223007
+362,6.033333333,pose2_to_pose3_retreat,0.578083345605,-0.00981819552436,1.07002052691,0.548654493247,-0.00114395803992,1.06969223219
+363,6.050000000,pose2_to_pose3_retreat,0.577813655866,-0.00981825383289,1.07002077815,0.548384804984,-0.00114401172412,1.06969247342
+364,6.066666667,pose2_to_pose3_retreat,0.577563935266,-0.00981827997555,1.07002051147,0.54813508346,-0.00114404077047,1.06969221278
+365,6.083333333,pose2_to_pose3_retreat,0.57733511516,-0.00981826450957,1.07002037188,0.547906261936,-0.0011440297192,1.06969208378
+366,6.100000000,pose2_to_pose3_retreat,0.577128498049,-0.00981831865197,1.07002042609,0.547699646437,-0.00114407837317,1.06969213864
+367,6.116666667,pose2_to_pose3_retreat,0.576940872891,-0.0098183383567,1.07002061787,0.547512022774,-0.00114409341516,1.0696923195
+368,6.133333333,pose2_to_pose3_retreat,0.576771105762,-0.0098182153937,1.07002077243,0.547342253493,-0.00114397809686,1.06969246509
+369,6.150000000,pose2_to_pose3_retreat,0.576618585813,-0.00981810375889,1.07002049936,0.547189731241,-0.00114387362587,1.06969220923
+370,6.166666667,pose2_to_pose3_retreat,0.576481819009,-0.0098182257647,1.07002084233,0.547052967098,-0.00114398695395,1.06969254289
+371,6.183333333,pose2_to_pose3_retreat,0.576360511651,-0.00981821970381,1.07002074749,0.546931660991,-0.00114397671571,1.0696924463
+372,6.200000000,pose2_to_pose3_retreat,0.57625299507,-0.00981812179707,1.07002072568,0.54682414263,-0.00114388480482,1.06969242571
+373,6.216666667,pose2_to_pose3_retreat,0.576158550592,-0.00981802987778,1.07002074459,0.546729695662,-0.00114380128379,1.0696924459
+374,6.233333333,pose2_to_pose3_retreat,0.576073481523,-0.00981803023925,1.07002062828,0.546644626088,-0.00114380332882,1.06969233051
+375,6.250000000,pose2_to_pose3_retreat,0.575997396062,-0.00981812698419,1.07002038144,0.546568541902,-0.00114389546075,1.06969209174
+376,6.266666667,pose2_to_pose3_retreat,0.575931064715,-0.00981817780381,1.07002059966,0.546502212107,-0.00114394124878,1.06969230373
+377,6.283333333,pose2_to_pose3_retreat,0.575873742666,-0.00981823184538,1.07002047691,0.546444890065,-0.0011439952107,1.06969218238
+378,6.300000000,pose2_to_pose3_retreat,0.575825979637,-0.00981824600306,1.07002053776,0.546397126995,-0.00114400952929,1.06969224266
+379,6.316666667,pose2_to_pose3_retreat,0.575787046305,-0.00981823242022,1.07002054589,0.546358194553,-0.00114399296878,1.06969224953
+380,6.333333333,pose2_to_pose3_retreat,0.575756181725,-0.00981822503262,1.07002042449,0.546327330403,-0.00114398410273,1.06969212869
+381,6.350000000,pose2_to_pose3_retreat,0.575731586805,-0.00981824119716,1.07002051069,0.546302733262,-0.00114400778146,1.06969221547
+382,6.366666667,pose2_to_pose3_retreat,0.575712201175,-0.0098182253515,1.07002050996,0.546283348252,-0.00114398976731,1.06969221645
+383,6.383333333,pose2_to_pose3_retreat,0.575697640718,-0.00981825325911,1.07002053676,0.546268788469,-0.00114401562456,1.06969223709
+384,6.400000000,pose2_to_pose3_retreat,0.575687018685,-0.00981829438842,1.0700205301,0.546258167162,-0.00114405419724,1.06969223288
+385,6.416666667,pose2_to_pose3_retreat,0.575680156315,-0.00981831229601,1.07002052063,0.54625130461,-0.00114407260684,1.06969222647
+386,6.433333333,pose2_to_pose3_retreat,0.57567574628,-0.00981828821465,1.07002053562,0.546246892756,-0.00114405482566,1.06969223805
+387,6.450000000,pose2_to_pose3_retreat,0.575673061928,-0.00981823908612,1.07002056542,0.54624420802,-0.00114400689468,1.06969227061
+388,6.466666667,pose2_to_pose3_retreat,0.575671258854,-0.00981818570781,1.07002059766,0.546242405117,-0.00114395276157,1.06969230756
+389,6.483333333,pose2_to_pose3_retreat,0.575670059183,-0.00981815986529,1.07002060747,0.546241205661,-0.00114392609426,1.0696923199
+390,6.500000000,pose2_to_pose3_retreat,0.575669460367,-0.00981817676737,1.0700205765,0.546240607267,-0.00114394159071,1.0696922883
+391,6.516666667,pose2_to_pose3_retreat,0.575668997761,-0.00981818982484,1.07002055257,0.546240144986,-0.00114395356227,1.06969226389
+392,6.533333333,pose2_to_pose3_retreat,0.575668486234,-0.00981820426312,1.07002052611,0.546239633819,-0.00114396679982,1.0696922369
+393,6.550000000,pose2_to_pose3_retreat,0.575668376013,-0.0098182073742,1.07002052041,0.546239523676,-0.00114396965218,1.06969223108
+394,6.566666667,pose2_to_pose3_retreat,0.575668270041,-0.00981821036537,1.07002051492,0.546239417777,-0.0011439723946,1.06969222549
+395,6.583333333,pose2_to_pose3_retreat,0.575668159808,-0.00981821347678,1.07002050922,0.546239307622,-0.00114397524725,1.06969221967
+396,6.600000000,pose2_to_pose3_retreat,0.575667863815,-0.00981821606069,1.07002049948,0.546239011599,-0.00114397795053,1.06969220948
+397,6.616666667,pose2_to_pose3_retreat,0.575667479274,-0.00981820365773,1.07002050202,0.546238626367,-0.00114396792614,1.06969221106
+398,6.633333333,pose2_to_pose3_retreat,0.575667288238,-0.00981819749609,1.07002050328,0.546238434989,-0.00114396294615,1.06969221185
+399,6.650000000,pose2_to_pose3_retreat,0.575667285233,-0.00981819739913,1.0700205033,0.546238431978,-0.00114396286779,1.06969221186
+400,6.666666667,pose2_to_pose3_retreat,0.575667144763,-0.00981820078084,1.07002048762,0.546238291532,-0.00114396614477,1.06969219685
+401,6.683333333,pose2_to_pose3_retreat,0.575666976942,-0.00981822729056,1.07002042173,0.546238124522,-0.00114398976458,1.06969213466
+402,6.700000000,pose2_to_pose3_retreat,0.575666907009,-0.00981823833752,1.07002039427,0.546238054926,-0.00114399960728,1.06969210875
+403,6.716666667,pose2_to_pose3_retreat,0.57566688688,-0.00981824151717,1.07002038637,0.546238034894,-0.00114400244031,1.06969210129
+404,6.733333333,pose2_to_pose3_retreat,0.575666881542,-0.00981824236042,1.07002038428,0.546238029582,-0.00114400319163,1.06969209931
+405,6.750000000,pose2_to_pose3_retreat,0.575666809886,-0.00981825367946,1.07002035614,0.546237958272,-0.00114401327675,1.06969207276
+406,6.766666667,pose2_to_pose3_retreat,0.575666780561,-0.00981824584203,1.07002034847,0.546237928063,-0.00114400842416,1.06969206556
+407,6.783333333,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914777,-0.00114400271446,1.06969206398

Obstacle_avoidance/cylinder_15A_10/position_08/depth_04/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c177b1d6cae3e1735719f71817a7b1f18b9779f87198b7e95df22eea7c282f02
+size 26046129

Obstacle_avoidance/cylinder_15A_10/position_08/depth_04/simulation_data.csv

@@ -0,0 +1,412 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+1,0.016666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+2,0.033333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+3,0.050000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+4,0.066666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+5,0.083333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+6,0.100000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+7,0.116666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+8,0.133333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+9,0.150000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+10,0.166666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+11,0.183333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+12,0.200000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+13,0.216666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+14,0.233333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+15,0.250000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+16,0.266666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+17,0.283333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+18,0.300000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+19,0.316666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+20,0.333333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+21,0.350000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+22,0.366666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+23,0.383333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+24,0.400000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+25,0.416666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+26,0.433333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+27,0.450000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+28,0.466666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+29,0.483333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+30,0.500000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+31,0.516666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+32,0.533333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+33,0.550000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+34,0.566666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+35,0.583333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+36,0.600000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+37,0.616666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+38,0.633333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+39,0.650000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+40,0.666666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+41,0.683333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+42,0.700000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+43,0.716666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+44,0.733333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+45,0.750000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+46,0.766666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+47,0.783333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+48,0.800000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+49,0.816666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+50,0.833333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+51,0.850000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+52,0.866666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+53,0.883333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+54,0.900000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+55,0.916666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+56,0.933333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+57,0.950000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+58,0.966666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+59,0.983333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+60,1.000000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+61,1.016666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+62,1.033333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+63,1.050000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+64,1.066666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+65,1.083333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+66,1.100000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+67,1.116666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+68,1.133333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+69,1.150000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+70,1.166666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+71,1.183333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+72,1.200000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+73,1.216666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+74,1.233333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+75,1.250000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+76,1.266666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+77,1.283333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+78,1.300000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+79,1.316666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+80,1.333333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+81,1.350000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+82,1.366666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+83,1.383333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+84,1.400000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+85,1.416666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+86,1.433333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+87,1.450000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+88,1.466666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+89,1.483333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+90,1.500000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+91,1.516666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+92,1.533333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+93,1.550000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+94,1.566666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+95,1.583333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+96,1.600000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+97,1.616666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+98,1.633333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+99,1.650000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+100,1.666666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+101,1.683333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+102,1.700000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+103,1.716666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+104,1.733333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+105,1.750000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+106,1.766666667,pose1_to_pose2_press,0.575666768205,-0.00981824323672,1.07002034654,0.546237914814,-0.00114400883609,1.06969206393
+107,1.783333333,pose1_to_pose2_press,0.575666771798,-0.00981824098136,1.07002034868,0.546237918448,-0.00114400645744,1.06969206561
+108,1.800000000,pose1_to_pose2_press,0.575666793575,-0.00981822731104,1.07002036168,0.546237940476,-0.00114399203985,1.06969207582
+109,1.816666667,pose1_to_pose2_press,0.575666818577,-0.00981821161577,1.07002037659,0.546237965768,-0.00114397548663,1.06969208753
+110,1.833333333,pose1_to_pose2_press,0.575666829593,-0.00981820470076,1.07002038316,0.54623797691,-0.00114396819363,1.0696920927
+111,1.850000000,pose1_to_pose2_press,0.575666855482,-0.00981818844887,1.07002039861,0.546238003098,-0.00114395105335,1.06969210483
+112,1.866666667,pose1_to_pose2_press,0.57566702923,-0.00981817889984,1.07002047718,0.546238176381,-0.00114394317505,1.06969218092
+113,1.883333333,pose1_to_pose2_press,0.575667101458,-0.00981817540686,1.07002050972,0.546238248404,-0.00114394041317,1.06969221253
+114,1.900000000,pose1_to_pose2_press,0.575667377637,-0.00981816205076,1.07002063415,0.546238523799,-0.00114392985254,1.06969233338
+115,1.916666667,pose1_to_pose2_press,0.575669646913,-0.00981831443416,1.07002072919,0.546240795914,-0.00114407276244,1.06969242425
+116,1.933333333,pose1_to_pose2_press,0.575675140953,-0.00981821359034,1.07002065174,0.546246288751,-0.00114397589597,1.0696923495
+117,1.950000000,pose1_to_pose2_press,0.575687609653,-0.00981830047021,1.07002041,0.546258758286,-0.00114405945274,1.06969212088
+118,1.966666667,pose1_to_pose2_press,0.575708290875,-0.0098183668436,1.07002062188,0.546279439946,-0.00114412460659,1.06969232538
+119,1.983333333,pose1_to_pose2_press,0.575740850911,-0.00981823177062,1.07002044271,0.546311997717,-0.00114399715265,1.06969214786
+120,2.000000000,pose1_to_pose2_press,0.575784171374,-0.00981837343272,1.07002049648,0.546355321991,-0.00114412586789,1.06969220206
+121,2.016666667,pose1_to_pose2_press,0.575838015314,-0.00981819836388,1.07002035046,0.546409163264,-0.00114395943244,1.06969206694
+122,2.033333333,pose1_to_pose2_press,0.575901006047,-0.00981828114405,1.07002049992,0.546472154568,-0.0011440405665,1.06969220863
+123,2.050000000,pose1_to_pose2_press,0.575972526222,-0.00981817697279,1.07002064819,0.546543674103,-0.00114393877217,1.06969235142
+124,2.066666667,pose1_to_pose2_press,0.576051283091,-0.0098182704164,1.07002057273,0.546622431156,-0.00114403189197,1.06969226794
+125,2.083333333,pose1_to_pose2_press,0.576138865317,-0.00981821693605,1.07002063566,0.54671001235,-0.001143981618,1.06969233855
+126,2.100000000,pose1_to_pose2_press,0.576238426345,-0.00981827636764,1.07002034286,0.54680957412,-0.00114403828905,1.06969205226
+127,2.116666667,pose1_to_pose2_press,0.576349751415,-0.00981834985124,1.07002040403,0.546920900199,-0.0011441082534,1.06969211592
+128,2.133333333,pose1_to_pose2_press,0.576473170817,-0.00981830969887,1.07002035387,0.547044319658,-0.00114406795256,1.06969206458
+129,2.150000000,pose1_to_pose2_press,0.576609512739,-0.00981817890299,1.07002049919,0.547180660469,-0.0011439411974,1.06969220264
+130,2.166666667,pose1_to_pose2_press,0.576757924793,-0.00981815858606,1.0700208014,0.547329072143,-0.00114392247051,1.06969249688
+131,2.183333333,pose1_to_pose2_press,0.57691992361,-0.00981829137314,1.07002074963,0.547491072187,-0.00114405102118,1.06969244699
+132,2.200000000,pose1_to_pose2_press,0.577098545993,-0.00981812734817,1.07002050357,0.547669693168,-0.0011438912536,1.06969221403
+133,2.216666667,pose1_to_pose2_press,0.577298603335,-0.0098181325183,1.07002065287,0.547869749492,-0.00114390021654,1.06969235436
+134,2.233333333,pose1_to_pose2_press,0.577519488508,-0.0098181026513,1.07002041384,0.548090635156,-0.0011438682756,1.06969212607
+135,2.250000000,pose1_to_pose2_press,0.577761302774,-0.00981820981883,1.07002036999,0.548332449695,-0.00114397451927,1.06969208207
+136,2.266666667,pose1_to_pose2_press,0.578026969302,-0.00981824171501,1.0700206689,0.548598116528,-0.00114400583098,1.06969236896
+137,2.283333333,pose1_to_pose2_press,0.578312383089,-0.00981821800226,1.07002062995,0.548883530685,-0.00114398081286,1.0696923314
+138,2.300000000,pose1_to_pose2_press,0.578614630328,-0.00981826067385,1.07002064905,0.549185778351,-0.00114402187885,1.06969235461
+139,2.316666667,pose1_to_pose2_press,0.578936626656,-0.00981830195363,1.07002066919,0.549507775403,-0.00114406088491,1.0696923698
+140,2.333333333,pose1_to_pose2_press,0.579281852472,-0.00981822986855,1.07002060324,0.549853001145,-0.00114398921027,1.06969229967
+141,2.350000000,pose1_to_pose2_press,0.579644381847,-0.00981813502708,1.07002062297,0.550215529072,-0.00114389912187,1.06969232351
+142,2.366666667,pose1_to_pose2_press,0.580023686889,-0.00981817459697,1.07002052745,0.550594833708,-0.00114393994506,1.06969223116
+143,2.383333333,pose1_to_pose2_press,0.580420457434,-0.00981822920722,1.0700205356,0.550991605812,-0.00114398915648,1.06969224223
+144,2.400000000,pose1_to_pose2_press,0.58083441139,-0.00981817344093,1.07002070557,0.551405557329,-0.00114394223777,1.06969239704
+145,2.416666667,pose1_to_pose2_press,0.581269488301,-0.00981803053123,1.07002053438,0.551840634587,-0.0011437976218,1.06969223979
+146,2.433333333,pose1_to_pose2_press,0.58173421388,-0.00981827911913,1.07002041093,0.552305362664,-0.00114403760854,1.06969211962
+147,2.450000000,pose1_to_pose2_press,0.5822329675,-0.00981831162646,1.07002056288,0.552804115809,-0.00114407172786,1.06969227161
+148,2.466666667,pose1_to_pose2_press,0.582759321804,-0.00981820251779,1.07002052819,0.55333046879,-0.00114396696918,1.06969224042
+149,2.483333333,pose1_to_pose2_press,0.583306180252,-0.0098181601562,1.07002042551,0.553877326785,-0.00114392621693,1.06969213589
+150,2.500000000,pose1_to_pose2_press,0.583861409407,-0.0098181904557,1.07002048671,0.554432556105,-0.00114395629646,1.06969218803
+151,2.516666667,pose1_to_pose2_press,0.58442226422,-0.00981830729992,1.0700206778,0.554993412479,-0.00114406808276,1.06969237286
+152,2.533333333,pose1_to_pose2_press,0.584991188085,-0.00981837102156,1.07002071987,0.555562336919,-0.00114412982388,1.06969241565
+153,2.550000000,pose1_to_pose2_press,0.585581250618,-0.00981826901956,1.07002053333,0.556152397684,-0.00114403358336,1.06969223541
+154,2.566666667,pose1_to_pose2_press,0.586196013644,-0.00981822348277,1.07002046346,0.556767161341,-0.00114398553394,1.06969217535
+155,2.583333333,pose1_to_pose2_press,0.586833480769,-0.00981822872928,1.07002028738,0.557404627433,-0.00114399451487,1.06969199323
+156,2.600000000,pose1_to_pose2_press,0.587488507063,-0.00981830878882,1.07002045324,0.558059654408,-0.00114407277831,1.06969214545
+157,2.616666667,pose1_to_pose2_press,0.588159905408,-0.00981832074127,1.07002063035,0.558731054281,-0.00114407918573,1.06969233216
+158,2.633333333,pose1_to_pose2_press,0.588845813752,-0.00981819333369,1.07002068498,0.55941696025,-0.00114396010628,1.06969237954
+159,2.650000000,pose1_to_pose2_press,0.58954877907,-0.00981817176224,1.07002058166,0.560119925554,-0.001143938488,1.06969227879
+160,2.666666667,pose1_to_pose2_press,0.590267541037,-0.00981822945865,1.07002054944,0.560838689434,-0.00114398963964,1.06969224805
+161,2.683333333,pose1_to_pose2_press,0.590999057872,-0.00981825021395,1.07002061388,0.561570205583,-0.00114401265328,1.06969231429
+162,2.700000000,pose1_to_pose2_press,0.59173989906,-0.00981827127573,1.07002058026,0.562311047178,-0.00114403215783,1.06969228535
+163,2.716666667,pose1_to_pose2_press,0.592485429333,-0.00981825658452,1.07002051328,0.563056579039,-0.00114401196804,1.06969222133
+164,2.733333333,pose1_to_pose2_press,0.593235010711,-0.00981822512188,1.07002046433,0.563806159987,-0.00114398196858,1.0696921723
+165,2.750000000,pose1_to_pose2_press,0.593985614441,-0.00981821863961,1.07002045612,0.564556762405,-0.00114397993529,1.06969216421
+166,2.766666667,pose1_to_pose2_press,0.59473391262,-0.00981814894342,1.0700206215,0.565305060834,-0.00114390933485,1.06969233106
+167,2.783333333,pose1_to_pose2_press,0.595496673776,-0.00981813664775,1.0700205903,0.566067820552,-0.00114390171839,1.06969230519
+168,2.800000000,pose1_to_pose2_press,0.596267363113,-0.00981831672536,1.07002051823,0.566838511445,-0.00114407687038,1.06969222371
+169,2.816666667,pose1_to_pose2_press,0.597031411501,-0.00981849277432,1.07002029353,0.567602563844,-0.00114423923645,1.06969200103
+170,2.833333333,pose1_to_pose2_press,0.597806272663,-0.0098183398446,1.07002059808,0.568377421651,-0.00114409800144,1.06969229746
+171,2.850000000,pose1_to_pose2_press,0.598602024065,-0.00981819791077,1.0700206353,0.569173171958,-0.00114395949247,1.06969234239
+172,2.866666667,pose1_to_pose2_press,0.599396995516,-0.00981823777861,1.07002063824,0.569968143037,-0.00114400066589,1.06969234423
+173,2.883333333,pose1_to_pose2_press,0.60019240086,-0.00981826683962,1.07002063496,0.570763548846,-0.00114402813365,1.06969234145
+174,2.900000000,pose1_to_pose2_press,0.600982381786,-0.00981819795311,1.07002057722,0.571553528868,-0.00114396237174,1.06969228217
+175,2.916666667,pose1_to_pose2_press,0.601761475944,-0.00981818499926,1.07002053412,0.572332622132,-0.00114395256475,1.06969223617
+176,2.933333333,pose1_to_pose2_press,0.602527687657,-0.0098181557619,1.07002058878,0.57309883322,-0.00114392552631,1.06969228883
+177,2.950000000,pose1_to_pose2_press,0.603282925016,-0.00981808976107,1.07002061865,0.573854070303,-0.00114386036127,1.06969232144
+178,2.966666667,pose1_to_pose2_press,0.604029229951,-0.00981824428335,1.07002050248,0.574600377904,-0.00114400541217,1.06969221658
+179,2.983333333,pose1_to_pose2_press,0.604784974941,-0.00981825992062,1.07002065764,0.575356122403,-0.00114402322203,1.06969235836
+180,3.000000000,pose1_to_pose2_press,0.605545038433,-0.00981831360386,1.07002065672,0.576116188565,-0.00114406781015,1.06969235855
+181,3.016666667,pose1_to_pose2_press,0.60629420158,-0.00981834687905,1.07002064796,0.576865350987,-0.00114410347132,1.0696923517
+182,3.033333333,pose1_to_pose2_press,0.607019740872,-0.00981836444769,1.07002061308,0.577590890857,-0.00114411886556,1.06969232254
+183,3.050000000,pose1_to_pose2_press,0.607709135174,-0.00981828555764,1.07002049765,0.57828028451,-0.00114404199174,1.06969221211
+184,3.066666667,pose1_to_pose2_press,0.608364370658,-0.00981820441183,1.0700205988,0.578935518144,-0.00114396744282,1.06969230492
+185,3.083333333,pose1_to_pose2_press,0.608989710333,-0.00981817907697,1.07002070788,0.579560859048,-0.00114393799779,1.0696924124
+186,3.100000000,pose1_to_pose2_press,0.609609929628,-0.00981812078434,1.07002066978,0.580181077906,-0.00114388119003,1.06969237432
+187,3.116666667,pose1_to_pose2_press,0.610234241997,-0.00981807870854,1.07002050537,0.580805387712,-0.00114384790975,1.0696922073
+188,3.133333333,pose1_to_pose2_press,0.610867235916,-0.00981824685791,1.07002040713,0.58143838399,-0.00114400797319,1.06969211132
+189,3.150000000,pose1_to_pose2_press,0.611497172615,-0.00981837686787,1.07002040502,0.582068323124,-0.00114412960152,1.06969211252
+190,3.166666667,pose1_to_pose2_press,0.612117811051,-0.00981818965451,1.07002053186,0.582688958334,-0.001143953501,1.06969223492
+191,3.183333333,pose1_to_pose2_press,0.61270881106,-0.00981806474846,1.07002051377,0.583279957445,-0.00114383147025,1.06969222102
+192,3.200000000,pose1_to_pose2_press,0.613270956503,-0.00981833074791,1.07002038268,0.583842104988,-0.00114409019019,1.06969209313
+193,3.216666667,pose1_to_pose2_press,0.61380069442,-0.00981839700818,1.07002048927,0.584371843576,-0.0011441540643,1.06969219574
+194,3.233333333,pose1_to_pose2_press,0.614303700555,-0.0098182377675,1.07002052922,0.584874848601,-0.00114399832925,1.06969223182
+195,3.250000000,pose1_to_pose2_press,0.614781845613,-0.00981818798599,1.07002053698,0.585352992589,-0.00114395178712,1.06969223836
+196,3.266666667,pose1_to_pose2_press,0.615243320842,-0.00981823519466,1.07002055249,0.585814467954,-0.00114399816773,1.06969225077
+197,3.283333333,pose1_to_pose2_press,0.615691767881,-0.00981823546079,1.07002047317,0.586262915158,-0.00114399737472,1.06969217228
+198,3.300000000,pose1_to_pose2_press,0.61613463636,-0.00981815816274,1.07002030643,0.586705782398,-0.00114392347322,1.06969201669
+199,3.316666667,pose1_to_pose2_press,0.616569814614,-0.00981816867634,1.07002052194,0.587140960907,-0.0011439326721,1.06969222999
+200,3.333333333,pose1_to_pose2_press,0.61698769221,-0.00981816628377,1.07002067996,0.587558839109,-0.00114392814034,1.06969237855
+201,3.350000000,pose1_to_pose2_press,0.617380027916,-0.00981804993249,1.07002076938,0.587951173643,-0.00114381514048,1.06969247103
+202,3.366666667,pose1_to_pose2_press,0.617740102388,-0.00981820261567,1.07002070107,0.588311250794,-0.00114395882438,1.06969239216
+203,3.383333333,pose1_to_pose2_press,0.618069180949,-0.00981826440813,1.07002053168,0.588640328771,-0.00114402160068,1.06969223824
+204,3.400000000,pose1_to_pose2_press,0.61837021982,-0.00981810679999,1.07002052205,0.588941365384,-0.00114387127498,1.06969222851
+205,3.416666667,pose1_to_pose2_press,0.618651929365,-0.00981813032157,1.07002044444,0.589223075526,-0.00114389243534,1.06969215173
+206,3.433333333,pose1_to_pose2_press,0.618919471646,-0.00981822566467,1.07002037199,0.589490618665,-0.00114398444995,1.0696920828
+207,3.450000000,pose1_to_pose2_press,0.619176211805,-0.00981828153725,1.07002037049,0.589747358784,-0.00114404010654,1.06969208264
+208,3.466666667,pose1_to_pose2_press,0.619418448634,-0.00981828392352,1.07002044426,0.589989595565,-0.00114404255772,1.06969215169
+209,3.483333333,pose1_to_pose2_press,0.61964337595,-0.00981811077829,1.07002063501,0.590214520292,-0.0011438781738,1.06969233653
+210,3.500000000,pose1_to_pose2_press,0.619851882042,-0.00981817344773,1.07002047626,0.590423027596,-0.00114393597009,1.06969219124
+211,3.516666667,pose1_to_pose2_press,0.620043789795,-0.00981829833661,1.07002047539,0.590614936954,-0.00114405524587,1.06969218822
+212,3.533333333,pose1_to_pose2_press,0.620216028049,-0.00981816590806,1.0700205481,0.590787172356,-0.00114393274871,1.06969224691
+213,3.550000000,pose1_to_pose2_press,0.620372725177,-0.00981813783976,1.0700205295,0.59094387158,-0.00114389711284,1.06969223297
+214,3.566666667,pose1_to_pose2_press,0.620514117423,-0.00981824424851,1.07002061388,0.59108526432,-0.00114400156811,1.06969231957
+215,3.583333333,pose1_to_pose2_press,0.620638789884,-0.00981827679736,1.07002057583,0.591209936968,-0.00114403363427,1.06969227883
+216,3.600000000,pose1_to_pose2_press,0.620746553476,-0.0098182767019,1.07002046041,0.591317700218,-0.00114403459706,1.06969216545
+217,3.616666667,pose1_to_pose2_press,0.620840495396,-0.00981824513878,1.070020615,0.591411641357,-0.0011440055493,1.06969231977
+218,3.633333333,pose1_to_pose2_press,0.620922225214,-0.00981819822991,1.07002074067,0.591493370682,-0.00114395971921,1.0696924457
+219,3.650000000,pose1_to_pose2_press,0.620992745049,-0.0098181897763,1.07002038733,0.591563890499,-0.00114394982431,1.06969210081
+220,3.666666667,pose1_to_pose2_press,0.621054822624,-0.00981818318352,1.07002052679,0.591625967163,-0.00114394624518,1.06969223089
+221,3.683333333,pose1_to_pose2_press,0.621108568243,-0.00981815177672,1.07002051242,0.591679712683,-0.00114391583048,1.06969221967
+222,3.700000000,pose1_to_pose2_press,0.621153637777,-0.00981827495748,1.07002069717,0.591724784165,-0.00114403269675,1.06969240534
+223,3.716666667,pose1_to_pose2_press,0.621190273713,-0.00981820449209,1.070020463,0.591761419926,-0.00114396279768,1.06969217546
+224,3.733333333,pose1_to_pose2_press,0.621219693167,-0.00981819095819,1.07002043259,0.591790838914,-0.00114395103841,1.06969214557
+225,3.750000000,pose1_to_pose2_press,0.62124295359,-0.00981821801302,1.0700203598,0.591814099181,-0.00114397856384,1.06969207627
+226,3.766666667,pose1_to_pose2_press,0.621260239012,-0.00981822386186,1.07002028067,0.591831384482,-0.00114398478659,1.06969199866
+227,3.783333333,pose1_to_pose2_press,0.621273486313,-0.00981820193111,1.07002051599,0.591844631368,-0.00114396496271,1.06969222226
+228,3.800000000,pose1_to_pose2_press,0.621282905646,-0.0098182250815,1.07002051819,0.591854051315,-0.00114398586285,1.06969222522
+229,3.816666667,pose1_to_pose2_press,0.621289337034,-0.00981819297174,1.07002053279,0.591860481485,-0.00114395800663,1.06969223642
+230,3.833333333,pose1_to_pose2_press,0.6212935219,-0.00981814089648,1.07002055202,0.591864664497,-0.00114391245969,1.06969225083
+231,3.850000000,pose1_to_pose2_press,0.621296887567,-0.00981810496712,1.07002063383,0.591868030864,-0.00114387394297,1.0696923367
+232,3.866666667,pose1_to_pose2_press,0.621299530644,-0.00981807897143,1.07002072283,0.591870675308,-0.00114384299228,1.06969243184
+233,3.883333333,pose1_to_pose2_press,0.621301184858,-0.00981817521267,1.0700206474,0.591872330223,-0.00114393692801,1.06969235458
+234,3.900000000,pose1_to_pose2_press,0.621302587802,-0.00981828476045,1.07002055088,0.591873733723,-0.00114404471795,1.0696922551
+235,3.916666667,pose1_to_pose2_press,0.621303628017,-0.00981822000458,1.07002051325,0.591874772874,-0.00114398348132,1.06969221968
+236,3.933333333,pose1_to_pose2_press,0.621303907799,-0.00981817645501,1.07002050921,0.591875052106,-0.00114394174161,1.06969221701
+237,3.950000000,pose1_to_pose2_press,0.621303943242,-0.00981817093814,1.07002050869,0.591875087479,-0.00114393645402,1.06969221668
+238,3.966666667,pose1_to_pose2_press,0.621304204344,-0.00981813029621,1.07002050492,0.591875348067,-0.00114389750111,1.06969221419
+239,3.983333333,pose1_to_pose2_press,0.621304507651,-0.00981808308494,1.07002050053,0.591875650777,-0.00114385225188,1.0696922113
+240,4.000000000,pose1_to_pose2_press,0.621304758682,-0.00981808000982,1.07002057104,0.591875902263,-0.00114384761554,1.06969228221
+241,4.016666667,pose1_to_pose2_press,0.62130495679,-0.00981808453103,1.07002064099,0.591876100913,-0.00114385028994,1.06969235231
+242,4.033333333,pose1_to_pose2_press,0.6213050649,-0.00981808699831,1.07002067916,0.591876209319,-0.00114385174939,1.06969239057
+243,4.050000000,pose1_to_pose2_press,0.621305159403,-0.00981808915506,1.07002071253,0.591876304081,-0.00114385302516,1.06969242401
+244,4.066666667,pose1_to_pose2_press,0.621305223883,-0.00981811315353,1.07002067617,0.591876368414,-0.0011438775294,1.06969238748
+245,4.083333333,pose1_to_pose2_press,0.621305239897,-0.00981813937803,1.07002061396,0.591876384101,-0.00114390487521,1.06969232502
+246,4.100000000,pose1_to_pose2_press,0.621305262588,-0.00981817653652,1.07002052582,0.591876406329,-0.00114394362253,1.06969223651
+247,4.116666667,pose1_to_pose2_press,0.621305391357,-0.00981814666117,1.07002064347,0.59187653488,-0.00114391466522,1.06969234943
+248,4.133333333,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534884,-0.00114391466694,1.06969234943
+249,4.150000000,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534884,-0.00114391466702,1.06969234943
+250,4.166666667,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534884,-0.00114391466709,1.06969234943
+251,4.183333333,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534885,-0.00114391466715,1.06969234943
+252,4.200000000,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534885,-0.00114391466721,1.06969234943
+253,4.216666667,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534885,-0.00114391466729,1.06969234943
+254,4.233333333,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534885,-0.00114391466735,1.06969234943
+255,4.250000000,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534885,-0.0011439146674,1.06969234943
+256,4.266666667,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534885,-0.00114391466746,1.06969234943
+257,4.283333333,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534885,-0.00114391466751,1.06969234943
+258,4.300000000,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534886,-0.00114391466756,1.06969234943
+259,4.316666667,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534886,-0.00114391466761,1.06969234943
+260,4.333333333,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534886,-0.00114391466766,1.06969234943
+261,4.350000000,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534886,-0.0011439146677,1.06969234943
+262,4.366666667,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534886,-0.00114391466774,1.06969234943
+263,4.383333333,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534886,-0.00114391466778,1.06969234943
+264,4.400000000,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534886,-0.00114391466782,1.06969234943
+265,4.416666667,pose2_hold,0.621305391357,-0.00981814666117,1.07002064347,0.591876534886,-0.00114391466786,1.06969234943
+266,4.433333333,pose2_to_pose3_retreat,0.621305391357,-0.00981814666117,1.07002064347,0.591876534887,-0.00114391466799,1.06969234943
+267,4.450000000,pose2_to_pose3_retreat,0.621305247548,-0.00981809026297,1.07002065231,0.591876391197,-0.00114385790961,1.06969235703
+268,4.466666667,pose2_to_pose3_retreat,0.621305077896,-0.00981810477132,1.07002069795,0.591876220905,-0.00114387451019,1.0696924049
+269,4.483333333,pose2_to_pose3_retreat,0.621304820302,-0.0098181138666,1.07002072251,0.591875962663,-0.00114388574046,1.06969243118
+270,4.500000000,pose2_to_pose3_retreat,0.621304689086,-0.00981810726369,1.07002069614,0.591875831401,-0.00114387932006,1.06969240428
+271,4.516666667,pose2_to_pose3_retreat,0.621304678413,-0.00981810672662,1.070020694,0.591875820724,-0.00114387879783,1.06969240209
+272,4.533333333,pose2_to_pose3_retreat,0.621304425437,-0.00981809399654,1.07002064318,0.591875567655,-0.00114386641961,1.06969235021
+273,4.550000000,pose2_to_pose3_retreat,0.621303468915,-0.00981804945561,1.07002052553,0.591874610831,-0.00114382299323,1.06969223038
+274,4.566666667,pose2_to_pose3_retreat,0.621300741625,-0.00981799316854,1.07002053377,0.59187188327,-0.00114376759405,1.06969223983
+275,4.583333333,pose2_to_pose3_retreat,0.621293367288,-0.00981824783842,1.07002047406,0.591864511481,-0.00114401356168,1.06969218239
+276,4.600000000,pose2_to_pose3_retreat,0.621279471607,-0.00981812567708,1.07002043754,0.591850616276,-0.00114388967778,1.06969214942
+277,4.616666667,pose2_to_pose3_retreat,0.621255955528,-0.00981809806221,1.07002073428,0.591827099445,-0.00114386485656,1.06969243921
+278,4.633333333,pose2_to_pose3_retreat,0.621222727115,-0.0098181389278,1.07002062158,0.59179387178,-0.00114390307935,1.06969232473
+279,4.650000000,pose2_to_pose3_retreat,0.621179746004,-0.00981825044674,1.07002077553,0.591750892557,-0.00114400819396,1.06969247714
+280,4.666666667,pose2_to_pose3_retreat,0.621128331354,-0.00981824050331,1.07002064686,0.591699478903,-0.00114399547642,1.0696923419
+281,4.683333333,pose2_to_pose3_retreat,0.621068393891,-0.00981824196726,1.07002070015,0.591639540535,-0.00114399970534,1.06969239965
+282,4.700000000,pose2_to_pose3_retreat,0.621001701598,-0.00981818964324,1.07002070245,0.591572846477,-0.0011439533527,1.06969240574
+283,4.716666667,pose2_to_pose3_retreat,0.620928082761,-0.00981822570682,1.07002053988,0.59149922852,-0.00114398666892,1.06969224474
+284,4.733333333,pose2_to_pose3_retreat,0.620843774593,-0.00981828963262,1.07002043762,0.591414922019,-0.00114404504632,1.06969214272
+285,4.750000000,pose2_to_pose3_retreat,0.620747977054,-0.00981814727019,1.07002057769,0.591319122786,-0.00114390877123,1.06969227776
+286,4.766666667,pose2_to_pose3_retreat,0.62063750147,-0.00981818005793,1.07002077133,0.591208646762,-0.00114394322245,1.06969247257
+287,4.783333333,pose2_to_pose3_retreat,0.620512009241,-0.00981811606876,1.070020663,0.591083156197,-0.00114387360564,1.06969236782
+288,4.800000000,pose2_to_pose3_retreat,0.620370534741,-0.00981817572463,1.07002032075,0.590941680907,-0.00114393562947,1.06969203712
+289,4.816666667,pose2_to_pose3_retreat,0.620211774281,-0.00981811571024,1.07002039992,0.590782919012,-0.00114388086666,1.06969211297
+290,4.833333333,pose2_to_pose3_retreat,0.620036531501,-0.00981812712444,1.07002050728,0.590607676028,-0.00114389334027,1.06969221527
+291,4.850000000,pose2_to_pose3_retreat,0.619844241629,-0.00981825703016,1.07002056907,0.590415388073,-0.00114401704106,1.06969227377
+292,4.866666667,pose2_to_pose3_retreat,0.619633820297,-0.00981830405401,1.07002064387,0.590204968176,-0.00114405951375,1.06969234716
+293,4.883333333,pose2_to_pose3_retreat,0.619402583149,-0.00981815118672,1.07002062908,0.589973729456,-0.00114391209752,1.06969233658
+294,4.900000000,pose2_to_pose3_retreat,0.61915392354,-0.00981826613171,1.07002062351,0.589725072356,-0.00114401883863,1.06969233162
+295,4.916666667,pose2_to_pose3_retreat,0.618888090565,-0.00981820823236,1.0700206224,0.589459237689,-0.0011439668754,1.06969233262
+296,4.933333333,pose2_to_pose3_retreat,0.618604192298,-0.00981821453415,1.07002053517,0.589175339275,-0.00114397405315,1.06969224321
+297,4.950000000,pose2_to_pose3_retreat,0.618304528941,-0.00981820990953,1.07002060695,0.588875675614,-0.00114397101718,1.06969230942
+298,4.966666667,pose2_to_pose3_retreat,0.617989277222,-0.00981821232436,1.07002057071,0.588560423925,-0.00114397348542,1.06969227902
+299,4.983333333,pose2_to_pose3_retreat,0.617657310049,-0.00981823296239,1.07002055202,0.588228457091,-0.00114399311396,1.06969226689
+300,5.000000000,pose2_to_pose3_retreat,0.617306409105,-0.00981825811388,1.07002069669,0.587877556461,-0.00114401779027,1.06969240613
+301,5.016666667,pose2_to_pose3_retreat,0.616935452643,-0.00981823863559,1.07002046843,0.587506600405,-0.00114399694977,1.06969218569
+302,5.033333333,pose2_to_pose3_retreat,0.616543436798,-0.00981826755523,1.07002054645,0.587114584912,-0.00114402582838,1.06969224747
+303,5.050000000,pose2_to_pose3_retreat,0.616124341827,-0.00981808970484,1.07002060247,0.586695487136,-0.00114385779071,1.0696923098
+304,5.066666667,pose2_to_pose3_retreat,0.615678672648,-0.00981818483067,1.0700205375,0.586249820001,-0.00114394614073,1.06969225221
+305,5.083333333,pose2_to_pose3_retreat,0.615204113625,-0.00981828843937,1.07002048063,0.585775262784,-0.00114404402284,1.06969219465
+306,5.100000000,pose2_to_pose3_retreat,0.61470906222,-0.00981818979095,1.07002050202,0.585280209614,-0.00114395195532,1.06969221164
+307,5.116666667,pose2_to_pose3_retreat,0.614196573075,-0.00981813560739,1.07002053984,0.584767719879,-0.00114390040615,1.0696922468
+308,5.133333333,pose2_to_pose3_retreat,0.613673470284,-0.00981821136439,1.07002067509,0.584244617841,-0.00114397428288,1.06969237436
+309,5.150000000,pose2_to_pose3_retreat,0.613141424753,-0.00981825905146,1.07002075303,0.583712573378,-0.00114401833223,1.06969245609
+310,5.166666667,pose2_to_pose3_retreat,0.612598493995,-0.00981826208361,1.07002039003,0.583169642789,-0.00114402058974,1.06969209988
+311,5.183333333,pose2_to_pose3_retreat,0.612037829936,-0.00981827062225,1.07002029626,0.582608978294,-0.00114403041091,1.06969201179
+312,5.200000000,pose2_to_pose3_retreat,0.611453014552,-0.00981823215252,1.07002034545,0.582024161959,-0.00114399512374,1.06969206208
+313,5.216666667,pose2_to_pose3_retreat,0.610845087924,-0.00981817704719,1.07002038791,0.581416234695,-0.00114394225791,1.06969210233
+314,5.233333333,pose2_to_pose3_retreat,0.610215113917,-0.00981823628277,1.07002049603,0.580786261755,-0.00114399790484,1.06969220952
+315,5.250000000,pose2_to_pose3_retreat,0.609559974469,-0.00981835679684,1.07002063831,0.580131124758,-0.0011441104102,1.06969234379
+316,5.266666667,pose2_to_pose3_retreat,0.608886077264,-0.00981819554101,1.07002056146,0.579457225827,-0.00114395516283,1.06969226202
+317,5.283333333,pose2_to_pose3_retreat,0.608200977983,-0.00981823654836,1.07002042012,0.578772125989,-0.00114399770247,1.0696921298
+318,5.300000000,pose2_to_pose3_retreat,0.607509522192,-0.0098182000759,1.07002047068,0.578080670728,-0.00114395951292,1.06969217809
+319,5.316666667,pose2_to_pose3_retreat,0.606814515689,-0.00981822857129,1.07002043664,0.577385664319,-0.00114398753319,1.06969214799
+320,5.333333333,pose2_to_pose3_retreat,0.606115417417,-0.00981829868063,1.07002037893,0.576686565964,-0.00114405771088,1.06969209596
+321,5.350000000,pose2_to_pose3_retreat,0.605408767264,-0.00981827607395,1.07002048607,0.575979916039,-0.00114403460376,1.06969219582
+322,5.366666667,pose2_to_pose3_retreat,0.604689067512,-0.00981825573405,1.07002038222,0.575260213861,-0.00114402245718,1.06969209295
+323,5.383333333,pose2_to_pose3_retreat,0.60394684499,-0.00981819741384,1.07002059845,0.574517992121,-0.00114396160557,1.06969230591
+324,5.400000000,pose2_to_pose3_retreat,0.603170842023,-0.00981809024564,1.07002041562,0.57374198811,-0.00114385767115,1.06969213113
+325,5.416666667,pose2_to_pose3_retreat,0.602377825817,-0.00981814559935,1.0700205379,0.572948972802,-0.0011439102067,1.06969224726
+326,5.433333333,pose2_to_pose3_retreat,0.601572016869,-0.0098182273751,1.07002063395,0.572143164897,-0.00114398861578,1.06969233875
+327,5.450000000,pose2_to_pose3_retreat,0.600778947954,-0.00981823864699,1.07002057949,0.571350096772,-0.0011439971571,1.06969228562
+328,5.466666667,pose2_to_pose3_retreat,0.600002207687,-0.00981820718246,1.07002049757,0.570573356593,-0.00114396514615,1.06969221014
+329,5.483333333,pose2_to_pose3_retreat,0.59923914376,-0.00981819899478,1.0700204558,0.569810291674,-0.00114396002181,1.0696921763
+330,5.500000000,pose2_to_pose3_retreat,0.598481201411,-0.00981829136021,1.07002051552,0.569052350217,-0.00114404993809,1.06969222072
+331,5.516666667,pose2_to_pose3_retreat,0.597722465443,-0.00981835106884,1.07002041096,0.568293614644,-0.00114410830832,1.06969211609
+332,5.533333333,pose2_to_pose3_retreat,0.596940616615,-0.00981830656775,1.070020586,0.567511766208,-0.00114406253134,1.06969228966
+333,5.550000000,pose2_to_pose3_retreat,0.59613931518,-0.00981818912902,1.07002049343,0.566710462849,-0.00114395155577,1.06969219872
+334,5.566666667,pose2_to_pose3_retreat,0.595339262604,-0.00981812686696,1.07002053473,0.565910408388,-0.00114389576693,1.06969223789
+335,5.583333333,pose2_to_pose3_retreat,0.594551025091,-0.00981816970638,1.07002059202,0.565122171296,-0.00114393713781,1.06969229623
+336,5.600000000,pose2_to_pose3_retreat,0.593789955958,-0.00981825383359,1.07002049858,0.564361104041,-0.00114401469966,1.06969220786
+337,5.616666667,pose2_to_pose3_retreat,0.593050894809,-0.00981830563336,1.07002050806,0.563622044006,-0.00114406280214,1.06969221514
+338,5.633333333,pose2_to_pose3_retreat,0.592330073301,-0.00981833353682,1.07002051579,0.562901222411,-0.00114409105936,1.06969222125
+339,5.650000000,pose2_to_pose3_retreat,0.591610466565,-0.0098182525625,1.07002028507,0.562181614666,-0.00114401317203,1.0696919994
+340,5.666666667,pose2_to_pose3_retreat,0.590887340503,-0.00981822500429,1.07002051913,0.561458487715,-0.00114398895707,1.06969222481
+341,5.683333333,pose2_to_pose3_retreat,0.590161929396,-0.00981828346504,1.07002065225,0.56073307761,-0.0011440441389,1.06969235472
+342,5.700000000,pose2_to_pose3_retreat,0.58943871354,-0.00981820750629,1.07002054571,0.560009862008,-0.00114396730092,1.06969224862
+343,5.716666667,pose2_to_pose3_retreat,0.588719425115,-0.0098181040948,1.0700203136,0.559290572384,-0.0011438678059,1.06969202052
+344,5.733333333,pose2_to_pose3_retreat,0.58802518653,-0.0098181987849,1.07002023888,0.55859633353,-0.00114396315763,1.06969195236
+345,5.750000000,pose2_to_pose3_retreat,0.58735902368,-0.00981814078439,1.07002065502,0.557930170809,-0.00114390527115,1.06969235392
+346,5.766666667,pose2_to_pose3_retreat,0.58671219449,-0.00981825728042,1.07002056038,0.557283342331,-0.00114401940834,1.06969225773
+347,5.783333333,pose2_to_pose3_retreat,0.586085014989,-0.00981816680967,1.0700205201,0.55665616258,-0.00114392941886,1.06969222722
+348,5.800000000,pose2_to_pose3_retreat,0.585476372052,-0.00981827430427,1.07002060708,0.556047520998,-0.0011440324547,1.06969231047
+349,5.816666667,pose2_to_pose3_retreat,0.584879215702,-0.00981827515069,1.07002067667,0.555450364705,-0.00114403340386,1.0696923722
+350,5.833333333,pose2_to_pose3_retreat,0.584293474363,-0.00981823866945,1.07002072737,0.554864622691,-0.00114399918176,1.0696924237
+351,5.850000000,pose2_to_pose3_retreat,0.58372893949,-0.00981828317104,1.07002062515,0.554300087781,-0.0011440435201,1.06969232906
+352,5.866666667,pose2_to_pose3_retreat,0.583189070944,-0.00981833499313,1.07002028116,0.55376021997,-0.00114409275645,1.06969198753
+353,5.883333333,pose2_to_pose3_retreat,0.582675229917,-0.00981828775886,1.07002035471,0.553246380629,-0.0011440395486,1.06969206777
+354,5.900000000,pose2_to_pose3_retreat,0.582180578415,-0.00981830480303,1.07002071866,0.552751727145,-0.00114406368659,1.06969242192
+355,5.916666667,pose2_to_pose3_retreat,0.581697878474,-0.00981821387179,1.07002069003,0.552269026141,-0.00114397641671,1.0696923918
+356,5.933333333,pose2_to_pose3_retreat,0.581224911498,-0.0098183510447,1.0700206039,0.551796061201,-0.00114410685837,1.06969230155
+357,5.950000000,pose2_to_pose3_retreat,0.580764717173,-0.0098183512297,1.07002055619,0.551335866754,-0.00114410748121,1.06969225364
+358,5.966666667,pose2_to_pose3_retreat,0.580331564364,-0.00981819022958,1.07002054492,0.550902711773,-0.00114395376175,1.06969224471
+359,5.983333333,pose2_to_pose3_retreat,0.579927956374,-0.00981809842936,1.0700205436,0.550499102707,-0.00114386557748,1.06969224423
+360,6.000000000,pose2_to_pose3_retreat,0.579558170528,-0.00981805994989,1.07002055514,0.550129316068,-0.00114382969822,1.06969225863
+361,6.016666667,pose2_to_pose3_retreat,0.579212369834,-0.00981812900687,1.0700207609,0.549783514096,-0.00114390308548,1.06969246361
+362,6.033333333,pose2_to_pose3_retreat,0.578886803751,-0.00981817888109,1.07002055268,0.549457950043,-0.00114394575208,1.06969226388
+363,6.050000000,pose2_to_pose3_retreat,0.578573224885,-0.00981820181639,1.07002052929,0.549144373253,-0.00114396189441,1.0696922339
+364,6.066666667,pose2_to_pose3_retreat,0.578272143057,-0.00981823839108,1.07002044648,0.548843291892,-0.00114399675716,1.06969215451
+365,6.083333333,pose2_to_pose3_retreat,0.577991509202,-0.00981821876964,1.07002041603,0.548562656941,-0.00114398068593,1.06969212848
+366,6.100000000,pose2_to_pose3_retreat,0.577730457311,-0.00981817458046,1.07002052469,0.548301603578,-0.00114394180205,1.06969222902
+367,6.116666667,pose2_to_pose3_retreat,0.57748913016,-0.00981824907217,1.0700205731,0.548060276166,-0.00114401749098,1.06969226935
+368,6.133333333,pose2_to_pose3_retreat,0.577267633839,-0.00981823767869,1.07002065437,0.547838783292,-0.00114399419161,1.06969235617
+369,6.150000000,pose2_to_pose3_retreat,0.577067357971,-0.0098181580254,1.07002077384,0.547638504502,-0.00114392455178,1.06969247301
+370,6.166666667,pose2_to_pose3_retreat,0.576883684668,-0.00981811519812,1.07002060444,0.547454831438,-0.0011438808775,1.06969230462
+371,6.183333333,pose2_to_pose3_retreat,0.57671712664,-0.00981816618607,1.07002054674,0.547288274096,-0.00114392960985,1.069692245
+372,6.200000000,pose2_to_pose3_retreat,0.576569750287,-0.00981819919617,1.07002060196,0.547140898061,-0.00114396155507,1.0696922998
+373,6.216666667,pose2_to_pose3_retreat,0.576438402415,-0.00981821261114,1.07002063457,0.547009550425,-0.00114397412852,1.06969233353
+374,6.233333333,pose2_to_pose3_retreat,0.576322106028,-0.0098182842919,1.07002054195,0.546893254675,-0.00114404365266,1.06969224093
+375,6.250000000,pose2_to_pose3_retreat,0.576217621337,-0.00981838631072,1.07002041198,0.546788770751,-0.00114414275859,1.06969211918
+376,6.266666667,pose2_to_pose3_retreat,0.576124297769,-0.009818296049,1.07002058377,0.546695446778,-0.00114405393249,1.06969228927
+377,6.283333333,pose2_to_pose3_retreat,0.576041714098,-0.00981824878854,1.07002064988,0.546612861892,-0.00114401091033,1.06969235265
+378,6.300000000,pose2_to_pose3_retreat,0.575968909266,-0.00981829729996,1.07002055083,0.546540058029,-0.00114405630827,1.06969224923
+379,6.316666667,pose2_to_pose3_retreat,0.575906495749,-0.00981833865971,1.07002047733,0.546477645841,-0.0011440933071,1.06969217174
+380,6.333333333,pose2_to_pose3_retreat,0.575853515031,-0.00981826459303,1.07002056188,0.546424663661,-0.00114402416699,1.06969225708
+381,6.350000000,pose2_to_pose3_retreat,0.575809914407,-0.00981816452194,1.07002053995,0.546381061625,-0.00114392861496,1.0696922424
+382,6.366666667,pose2_to_pose3_retreat,0.575773847495,-0.00981823228953,1.0700205136,0.546344996646,-0.00114398972724,1.06969221857
+383,6.383333333,pose2_to_pose3_retreat,0.575745279162,-0.00981824319115,1.0700204305,0.546316426943,-0.00114400530719,1.06969213464
+384,6.400000000,pose2_to_pose3_retreat,0.57572252635,-0.00981831697026,1.07002043459,0.546293674533,-0.00114407737978,1.06969214774
+385,6.416666667,pose2_to_pose3_retreat,0.575704856775,-0.00981830882111,1.07002060825,0.546276005181,-0.00114406861598,1.0696923177
+386,6.433333333,pose2_to_pose3_retreat,0.575691934303,-0.00981825825992,1.07002073738,0.546263082265,-0.00114401990113,1.06969243794
+387,6.450000000,pose2_to_pose3_retreat,0.575682450491,-0.00981827319091,1.0700206337,0.546253598402,-0.00114403490287,1.06969233686
+388,6.466666667,pose2_to_pose3_retreat,0.575676132623,-0.00981826724793,1.070020556,0.546247281246,-0.00114402667787,1.06969225571
+389,6.483333333,pose2_to_pose3_retreat,0.575671842614,-0.009818314738,1.07002053027,0.54624299091,-0.00114407513428,1.06969223379
+390,6.500000000,pose2_to_pose3_retreat,0.575669468864,-0.00981828462343,1.07002051181,0.546240616632,-0.00114404668769,1.06969221859
+391,6.516666667,pose2_to_pose3_retreat,0.575668401831,-0.00981825085448,1.07002050151,0.546239549261,-0.00114401400178,1.06969221002
+392,6.533333333,pose2_to_pose3_retreat,0.575667981947,-0.00981826657665,1.07002059801,0.546239129518,-0.00114402936351,1.06969230341
+393,6.550000000,pose2_to_pose3_retreat,0.575667717632,-0.00981827919346,1.07002066817,0.546238865318,-0.00114404167968,1.06969237126
+394,6.566666667,pose2_to_pose3_retreat,0.575667496004,-0.0098182897727,1.07002072701,0.546238643785,-0.00114405200683,1.06969242816
+395,6.583333333,pose2_to_pose3_retreat,0.575667319924,-0.00981829817773,1.07002077375,0.546238467782,-0.00114406021158,1.06969247337
+396,6.600000000,pose2_to_pose3_retreat,0.575667157531,-0.00981828704361,1.07002068195,0.546238305097,-0.00114404991952,1.0696923855
+397,6.616666667,pose2_to_pose3_retreat,0.575667064069,-0.0098182764794,1.07002059943,0.546238211387,-0.00114404006591,1.06969230642
+398,6.633333333,pose2_to_pose3_retreat,0.575667015079,-0.00981827094198,1.07002055617,0.546238162267,-0.00114403490096,1.06969226497
+399,6.650000000,pose2_to_pose3_retreat,0.575666963154,-0.00981826507284,1.07002051032,0.546238110204,-0.0011440294266,1.06969222104
+400,6.666666667,pose2_to_pose3_retreat,0.575666923721,-0.00981826061567,1.0700204755,0.546238070667,-0.00114402526924,1.06969218768
+401,6.683333333,pose2_to_pose3_retreat,0.575666874422,-0.00981825504332,1.07002043197,0.546238021237,-0.00114402007171,1.06969214596
+402,6.700000000,pose2_to_pose3_retreat,0.575666860074,-0.00981825342157,1.07002041931,0.546238006851,-0.00114401855905,1.06969213382
+403,6.716666667,pose2_to_pose3_retreat,0.57566681425,-0.00981824824201,1.07002037884,0.546237960906,-0.00114401372789,1.06969209505
+404,6.733333333,pose2_to_pose3_retreat,0.57566676805,-0.00981824242263,1.07002033898,0.546237914602,-0.00114400819895,1.06969205682
+405,6.750000000,pose2_to_pose3_retreat,0.57566676806,-0.00981823978379,1.0700203431,0.546237914694,-0.00114400529123,1.06969206062
+406,6.766666667,pose2_to_pose3_retreat,0.575666768066,-0.00981823819399,1.07002034559,0.54623791475,-0.00114400353944,1.0696920629
+407,6.783333333,pose2_to_pose3_retreat,0.575666768068,-0.00981823762451,1.07002034648,0.54623791477,-0.00114400291195,1.06969206372
+408,6.800000000,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914776,-0.00114400271439,1.06969206398
+409,6.816666667,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914776,-0.0011440027144,1.06969206398
+410,6.833333333,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914777,-0.00114400271445,1.06969206398

Obstacle_avoidance/cylinder_15A_10/position_08/depth_05/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8acda8983e47d41bb9f04b663e1eb576d7e55b4658979cc8e04a2c4963ff54d
+size 26114250

Obstacle_avoidance/cylinder_15A_10/position_08/depth_05/simulation_data.csv

@@ -0,0 +1,413 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+1,0.016666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+2,0.033333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+3,0.050000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+4,0.066666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+5,0.083333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+6,0.100000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+7,0.116666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+8,0.133333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+9,0.150000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+10,0.166666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+11,0.183333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+12,0.200000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+13,0.216666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+14,0.233333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+15,0.250000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+16,0.266666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+17,0.283333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+18,0.300000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+19,0.316666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+20,0.333333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+21,0.350000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+22,0.366666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+23,0.383333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+24,0.400000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+25,0.416666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+26,0.433333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+27,0.450000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+28,0.466666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+29,0.483333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+30,0.500000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+31,0.516666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+32,0.533333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+33,0.550000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+34,0.566666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+35,0.583333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+36,0.600000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+37,0.616666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+38,0.633333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+39,0.650000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+40,0.666666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+41,0.683333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+42,0.700000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+43,0.716666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+44,0.733333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+45,0.750000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+46,0.766666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+47,0.783333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+48,0.800000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+49,0.816666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+50,0.833333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+51,0.850000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+52,0.866666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+53,0.883333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+54,0.900000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+55,0.916666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+56,0.933333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+57,0.950000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+58,0.966666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+59,0.983333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+60,1.000000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+61,1.016666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+62,1.033333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+63,1.050000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+64,1.066666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+65,1.083333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+66,1.100000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+67,1.116666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+68,1.133333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+69,1.150000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+70,1.166666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+71,1.183333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+72,1.200000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+73,1.216666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+74,1.233333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+75,1.250000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+76,1.266666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+77,1.283333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+78,1.300000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+79,1.316666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+80,1.333333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+81,1.350000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+82,1.366666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+83,1.383333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+84,1.400000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+85,1.416666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+86,1.433333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+87,1.450000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+88,1.466666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+89,1.483333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+90,1.500000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+91,1.516666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+92,1.533333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+93,1.550000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+94,1.566666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+95,1.583333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+96,1.600000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+97,1.616666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+98,1.633333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+99,1.650000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+100,1.666666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+101,1.683333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+102,1.700000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+103,1.716666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+104,1.733333333,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+105,1.750000000,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+106,1.766666667,pose1_baseline,0.575666767992,-0.00981823092104,1.07002034686,0.546237914755,-0.00114399600589,1.06969206399
+107,1.783333333,pose1_to_pose2_press,0.575666768205,-0.00981824323672,1.07002034654,0.546237914814,-0.00114400883609,1.06969206393
+108,1.800000000,pose1_to_pose2_press,0.575666965843,-0.00981821837875,1.07002045628,0.546238113872,-0.0011439796235,1.06969216137
+109,1.816666667,pose1_to_pose2_press,0.5756672657,-0.00981830462181,1.07002061256,0.54623841481,-0.00114406229247,1.06969231523
+110,1.833333333,pose1_to_pose2_press,0.575667540089,-0.00981832895562,1.07002065782,0.546238689615,-0.0011440852015,1.06969236085
+111,1.850000000,pose1_to_pose2_press,0.575667544935,-0.00981832886205,1.07002065769,0.546238694463,-0.00114408510046,1.06969236075
+112,1.866666667,pose1_to_pose2_press,0.575667745886,-0.00981832498246,1.07002065197,0.54623889549,-0.00114408091121,1.06969235633
+113,1.883333333,pose1_to_pose2_press,0.575667937748,-0.00981832127831,1.07002064652,0.546239087427,-0.00114407691141,1.06969235211
+114,1.900000000,pose1_to_pose2_press,0.575669387216,-0.00981828595263,1.07002059229,0.54624053701,-0.00114404101263,1.06969230268
+115,1.916666667,pose1_to_pose2_press,0.575673987254,-0.0098181589263,1.07002067795,0.546245135182,-0.00114392066235,1.06969237914
+116,1.933333333,pose1_to_pose2_press,0.57568468017,-0.0098182754537,1.07002051739,0.546255827383,-0.00114403946459,1.06969222281
+117,1.950000000,pose1_to_pose2_press,0.575703177457,-0.00981820540835,1.07002057393,0.546274324533,-0.00114396980331,1.06969228108
+118,1.966666667,pose1_to_pose2_press,0.575732532037,-0.00981834314427,1.07002082566,0.546303680499,-0.00114410348142,1.06969251565
+119,1.983333333,pose1_to_pose2_press,0.575772606195,-0.00981831063947,1.07002059013,0.546343753838,-0.00114407311378,1.06969229705
+120,2.000000000,pose1_to_pose2_press,0.575822783363,-0.00981830404086,1.07002068577,0.54639393167,-0.00114406412581,1.06969239624
+121,2.016666667,pose1_to_pose2_press,0.575882336623,-0.00981839433666,1.07002072668,0.546453485474,-0.00114415285695,1.06969242961
+122,2.033333333,pose1_to_pose2_press,0.575951604265,-0.00981824280687,1.07002065142,0.546522751082,-0.00114400824237,1.06969235401
+123,2.050000000,pose1_to_pose2_press,0.576028980499,-0.00981821478738,1.07002044961,0.546600127675,-0.00114397880479,1.06969215729
+124,2.066666667,pose1_to_pose2_press,0.576114563063,-0.00981816924531,1.07002048526,0.546685709859,-0.00114393469078,1.06969218932
+125,2.083333333,pose1_to_pose2_press,0.576211933344,-0.00981813963486,1.07002057626,0.546783079691,-0.00114390641914,1.06969228524
+126,2.100000000,pose1_to_pose2_press,0.576320324604,-0.009818172087,1.07002055175,0.54689147158,-0.00114393671591,1.0696922613
+127,2.116666667,pose1_to_pose2_press,0.576440269534,-0.00981818100046,1.07002056766,0.547011416102,-0.00114394720828,1.06969227196
+128,2.133333333,pose1_to_pose2_press,0.576572748435,-0.00981815561902,1.07002065271,0.547143893871,-0.00114392577,1.06969235426
+129,2.150000000,pose1_to_pose2_press,0.576718893476,-0.00981821456163,1.07002066014,0.54729004058,-0.0011439790951,1.06969236053
+130,2.166666667,pose1_to_pose2_press,0.57687971478,-0.00981840719133,1.07002067948,0.547450866131,-0.00114415739763,1.06969237769
+131,2.183333333,pose1_to_pose2_press,0.577056187194,-0.00981837044673,1.07002082631,0.547627336189,-0.00114412894315,1.06969251652
+132,2.200000000,pose1_to_pose2_press,0.577252398045,-0.00981835532305,1.07002067219,0.547823546818,-0.00114411415136,1.06969237346
+133,2.216666667,pose1_to_pose2_press,0.577467788582,-0.0098182279595,1.07002044128,0.548038934707,-0.00114399556834,1.06969214801
+134,2.233333333,pose1_to_pose2_press,0.577704168508,-0.00981816586673,1.07002036107,0.54827531446,-0.0011439338162,1.06969207421
+135,2.250000000,pose1_to_pose2_press,0.577962988034,-0.00981821533991,1.07002035825,0.548534135315,-0.00114397869377,1.06969207356
+136,2.266666667,pose1_to_pose2_press,0.578245431637,-0.00981817595753,1.07002029363,0.548816578916,-0.0011439393176,1.069692009
+137,2.283333333,pose1_to_pose2_press,0.57854846861,-0.00981811929672,1.07002041706,0.549119615663,-0.00114388354827,1.06969212908
+138,2.300000000,pose1_to_pose2_press,0.578870834619,-0.0098181588071,1.07002057475,0.54944198256,-0.00114392016625,1.06969228354
+139,2.316666667,pose1_to_pose2_press,0.57921241784,-0.00981820652679,1.07002045604,0.549783566153,-0.00114396654407,1.06969216683
+140,2.333333333,pose1_to_pose2_press,0.57956987506,-0.00981821408615,1.07002037051,0.550141022491,-0.00114397702256,1.06969208323
+141,2.350000000,pose1_to_pose2_press,0.579943780229,-0.00981815608427,1.07002038564,0.550514927149,-0.00114392066143,1.06969210072
+142,2.366666667,pose1_to_pose2_press,0.580337507735,-0.0098182671332,1.07002061473,0.550908656426,-0.00114402591949,1.06969232405
+143,2.383333333,pose1_to_pose2_press,0.580752238053,-0.00981834418344,1.07002051841,0.55132338764,-0.00114410007311,1.06969222391
+144,2.400000000,pose1_to_pose2_press,0.581191395682,-0.00981824463641,1.07002075336,0.551762543943,-0.00114400528246,1.06969245203
+145,2.416666667,pose1_to_pose2_press,0.581655332464,-0.0098181068022,1.0700204786,0.552226477238,-0.00114387906878,1.06969218274
+146,2.433333333,pose1_to_pose2_press,0.582150140155,-0.00981823294036,1.07002048754,0.55272128658,-0.00114399962371,1.06969219123
+147,2.450000000,pose1_to_pose2_press,0.582670418204,-0.00981825269616,1.0700204373,0.553241565982,-0.00114401470621,1.06969214314
+148,2.466666667,pose1_to_pose2_press,0.583214826045,-0.00981825954052,1.07002048126,0.55378597454,-0.00114401919513,1.06969218496
+149,2.483333333,pose1_to_pose2_press,0.583774634545,-0.00981825698622,1.07002051331,0.554345782417,-0.00114401862941,1.06969222034
+150,2.500000000,pose1_to_pose2_press,0.584346386045,-0.00981818559514,1.07002062192,0.55491753312,-0.0011439498932,1.06969233018
+151,2.516666667,pose1_to_pose2_press,0.584927507874,-0.00981816198985,1.07002074163,0.555498655053,-0.00114392628996,1.06969244049
+152,2.533333333,pose1_to_pose2_press,0.585522330397,-0.00981820612599,1.07002065711,0.556093477541,-0.00114397076633,1.06969235016
+153,2.550000000,pose1_to_pose2_press,0.586136436018,-0.009818192894,1.07002049081,0.556707582519,-0.00114395939747,1.06969219228
+154,2.566666667,pose1_to_pose2_press,0.586770865927,-0.00981824261137,1.07002030402,0.557342011801,-0.00114401105067,1.06969201058
+155,2.583333333,pose1_to_pose2_press,0.587424387844,-0.00981821010757,1.07002052946,0.557995535452,-0.00114397277505,1.06969223302
+156,2.600000000,pose1_to_pose2_press,0.588102458595,-0.00981822410267,1.07002051416,0.558673606796,-0.00114398460071,1.06969222184
+157,2.616666667,pose1_to_pose2_press,0.588799816177,-0.00981838103175,1.07002061728,0.559370965756,-0.00114413686752,1.06969232475
+158,2.633333333,pose1_to_pose2_press,0.589512723207,-0.00981840282777,1.07002048667,0.56008387334,-0.00114415642932,1.06969220345
+159,2.650000000,pose1_to_pose2_press,0.59023913431,-0.00981821235432,1.07002069538,0.560810283881,-0.00114396823292,1.06969240242
+160,2.666666667,pose1_to_pose2_press,0.590976871386,-0.00981820751681,1.07002069531,0.561548019093,-0.00114396996907,1.06969239578
+161,2.683333333,pose1_to_pose2_press,0.591721891958,-0.0098181807178,1.07002045528,0.562293039315,-0.00114394389257,1.06969216806
+162,2.700000000,pose1_to_pose2_press,0.592475423343,-0.00981818724667,1.07002050256,0.563046571562,-0.00114394752916,1.06969221449
+163,2.716666667,pose1_to_pose2_press,0.59323975979,-0.00981819533934,1.07002064712,0.563810906678,-0.00114396047973,1.06969234997
+164,2.733333333,pose1_to_pose2_press,0.594010638067,-0.00981816815782,1.07002059818,0.564581783662,-0.00114393768575,1.06969230112
+165,2.750000000,pose1_to_pose2_press,0.59477897827,-0.00981819854417,1.07002045937,0.565350125662,-0.00114396171847,1.06969216907
+166,2.766666667,pose1_to_pose2_press,0.595550160544,-0.00981826682557,1.07002038244,0.56612130968,-0.00114402384557,1.06969209844
+167,2.783333333,pose1_to_pose2_press,0.596328212615,-0.00981821956119,1.07002049806,0.56689936149,-0.00114397762343,1.06969221002
+168,2.800000000,pose1_to_pose2_press,0.597101689539,-0.00981818835183,1.07002052689,0.567672836957,-0.00114395164462,1.06969223126
+169,2.816666667,pose1_to_pose2_press,0.597881059893,-0.00981819609691,1.07002063704,0.568452206593,-0.00114396184109,1.06969234099
+170,2.833333333,pose1_to_pose2_press,0.598688682744,-0.00981804183798,1.07002055501,0.569259829422,-0.00114380774448,1.06969225669
+171,2.850000000,pose1_to_pose2_press,0.59950644033,-0.00981828237944,1.07002073177,0.57007759041,-0.00114403670106,1.06969243464
+172,2.866666667,pose1_to_pose2_press,0.600323537877,-0.00981818937746,1.07002066475,0.570894687158,-0.00114394629871,1.06969237068
+173,2.883333333,pose1_to_pose2_press,0.601131378775,-0.00981831840922,1.07002038058,0.571702528329,-0.00114407445152,1.0696920853
+174,2.900000000,pose1_to_pose2_press,0.601923976975,-0.00981827742567,1.07002052728,0.57249512521,-0.00114403797895,1.0696922311
+175,2.916666667,pose1_to_pose2_press,0.602702688605,-0.00981821707853,1.0700206541,0.573273836324,-0.00114397948228,1.06969235527
+176,2.933333333,pose1_to_pose2_press,0.603471725707,-0.0098182787728,1.07002059752,0.574042873371,-0.00114404139911,1.06969229787
+177,2.950000000,pose1_to_pose2_press,0.60423549716,-0.00981827631952,1.0700205107,0.574806645027,-0.00114403799747,1.06969221795
+178,2.966666667,pose1_to_pose2_press,0.605009530493,-0.00981819677983,1.07002048692,0.575580678802,-0.00114395673732,1.0696922
+179,2.983333333,pose1_to_pose2_press,0.605797175304,-0.0098182350004,1.07002050418,0.576368322891,-0.00114399757495,1.06969221292
+180,3.000000000,pose1_to_pose2_press,0.606568257524,-0.00981819982959,1.07002044118,0.57713940471,-0.00114396372432,1.0696921511
+181,3.016666667,pose1_to_pose2_press,0.607317248915,-0.00981825914697,1.07002035657,0.577888396536,-0.00114402180664,1.06969206015
+182,3.033333333,pose1_to_pose2_press,0.608025755521,-0.00981826301329,1.07002062762,0.578596903038,-0.0011440261038,1.06969232923
+183,3.050000000,pose1_to_pose2_press,0.608696869709,-0.00981826789262,1.07002042358,0.57926801607,-0.00114403488947,1.06969212563
+184,3.066666667,pose1_to_pose2_press,0.609335692947,-0.0098182625925,1.07002054592,0.579906840838,-0.00114402470461,1.06969224
+185,3.083333333,pose1_to_pose2_press,0.609969406138,-0.00981821371749,1.0700205406,0.580540553215,-0.00114397835516,1.06969224089
+186,3.100000000,pose1_to_pose2_press,0.610607042309,-0.00981821187878,1.07002051094,0.581178188919,-0.00114397786468,1.06969221759
+187,3.116666667,pose1_to_pose2_press,0.611252776288,-0.00981820437697,1.07002053071,0.581823923386,-0.00114396885393,1.0696922335
+188,3.133333333,pose1_to_pose2_press,0.611900219045,-0.00981820272049,1.07002059283,0.582471367087,-0.00114396411811,1.06969229244
+189,3.150000000,pose1_to_pose2_press,0.612537836452,-0.00981824434876,1.07002062474,0.583108985301,-0.00114400271913,1.06969233221
+190,3.166666667,pose1_to_pose2_press,0.613150305133,-0.00981815626878,1.07002061472,0.583721452765,-0.00114391869421,1.06969232301
+191,3.183333333,pose1_to_pose2_press,0.613730016502,-0.00981803037797,1.07002064838,0.584301161476,-0.00114380176687,1.06969235226
+192,3.200000000,pose1_to_pose2_press,0.614280968451,-0.00981826634896,1.0700206129,0.584852116641,-0.0011440262432,1.06969232097
+193,3.216666667,pose1_to_pose2_press,0.614802967564,-0.00981814359685,1.07002036283,0.585374113737,-0.00114390949425,1.06969208038
+194,3.233333333,pose1_to_pose2_press,0.615298852303,-0.00981826249147,1.07002071277,0.585870001731,-0.00114401741391,1.06969241489
+195,3.250000000,pose1_to_pose2_press,0.615776391384,-0.00981816831821,1.07002057734,0.586347539096,-0.00114392839749,1.06969228684
+196,3.266666667,pose1_to_pose2_press,0.616242954632,-0.00981810765875,1.07002058898,0.586814100213,-0.00114387449091,1.0696922944
+197,3.283333333,pose1_to_pose2_press,0.616705633136,-0.00981817381104,1.07002063552,0.587276778681,-0.00114394009775,1.06969234236
+198,3.300000000,pose1_to_pose2_press,0.617165006064,-0.00981824279238,1.07002055993,0.587736152242,-0.00114400625216,1.06969227266
+199,3.316666667,pose1_to_pose2_press,0.617605091845,-0.00981824696354,1.07002056268,0.588176238749,-0.00114400776009,1.06969226968
+200,3.333333333,pose1_to_pose2_press,0.618020742665,-0.00981822479321,1.07002060179,0.588591890118,-0.00114398337539,1.06969230764
+201,3.350000000,pose1_to_pose2_press,0.618400254924,-0.00981813397919,1.07002052094,0.588971400306,-0.00114389910374,1.06969222667
+202,3.366666667,pose1_to_pose2_press,0.618748100098,-0.00981816512413,1.07002053134,0.589319245876,-0.00114392880134,1.06969222979
+203,3.383333333,pose1_to_pose2_press,0.619066956091,-0.00981833653108,1.07002036819,0.589638104489,-0.00114409042192,1.06969208117
+204,3.400000000,pose1_to_pose2_press,0.619371184349,-0.00981821197168,1.07002026315,0.589942330614,-0.0011439726517,1.06969197735
+205,3.416666667,pose1_to_pose2_press,0.619662376485,-0.00981820252708,1.07002057167,0.590233522403,-0.00114396457677,1.06969227226
+206,3.433333333,pose1_to_pose2_press,0.619941977284,-0.00981821906322,1.07002041998,0.590513123499,-0.0011439796957,1.06969212145
+207,3.450000000,pose1_to_pose2_press,0.620207030774,-0.0098182107075,1.07002065259,0.590778177819,-0.00114396820139,1.06969235412
+208,3.466666667,pose1_to_pose2_press,0.620451854591,-0.00981825523281,1.070020502,0.591023001609,-0.00114401237348,1.06969220786
+209,3.483333333,pose1_to_pose2_press,0.620678405662,-0.00981829657682,1.07002026174,0.591249551255,-0.00114405816943,1.06969197021
+210,3.500000000,pose1_to_pose2_press,0.620886660671,-0.00981827768584,1.07002044579,0.591457806081,-0.00114403974709,1.06969215204
+211,3.516666667,pose1_to_pose2_press,0.621076473323,-0.00981820242866,1.07002058942,0.591647619531,-0.00114396151632,1.06969229761
+212,3.533333333,pose1_to_pose2_press,0.621247964836,-0.00981812841244,1.07002069691,0.591819109788,-0.00114389155361,1.0696924045
+213,3.550000000,pose1_to_pose2_press,0.621399759315,-0.00981825903462,1.07002049752,0.591970904864,-0.00114401995493,1.06969220485
+214,3.566666667,pose1_to_pose2_press,0.621533867087,-0.00981817534164,1.07002041371,0.592105012645,-0.0011439359389,1.06969212325
+215,3.583333333,pose1_to_pose2_press,0.621650720996,-0.00981817258183,1.07002073923,0.592221865732,-0.00114393593555,1.0696924441
+216,3.600000000,pose1_to_pose2_press,0.621754816435,-0.00981836515171,1.07002058009,0.592325962472,-0.00114412413535,1.06969228061
+217,3.616666667,pose1_to_pose2_press,0.621847208201,-0.0098182187688,1.07002061759,0.59241835398,-0.00114397854597,1.06969232062
+218,3.633333333,pose1_to_pose2_press,0.621929139346,-0.00981822372729,1.07002048222,0.592500286036,-0.00114398011495,1.06969219131
+219,3.650000000,pose1_to_pose2_press,0.62200052916,-0.00981825853238,1.07002056771,0.592571676201,-0.00114401361155,1.06969227252
+220,3.666666667,pose1_to_pose2_press,0.622059343741,-0.00981821282318,1.07002071733,0.592630489896,-0.0011439711034,1.06969241604
+221,3.683333333,pose1_to_pose2_press,0.622107785217,-0.00981819424197,1.07002051601,0.59267893057,-0.00114395545932,1.06969222072
+222,3.700000000,pose1_to_pose2_press,0.622146749245,-0.00981823706052,1.07002039973,0.592717894037,-0.00114399983454,1.06969210934
+223,3.716666667,pose1_to_pose2_press,0.622179606632,-0.00981813500192,1.07002047672,0.592750751142,-0.00114389879401,1.06969218343
+224,3.733333333,pose1_to_pose2_press,0.622207341313,-0.00981809445073,1.07002044739,0.592778485782,-0.0011438581762,1.06969215813
+225,3.750000000,pose1_to_pose2_press,0.622231576987,-0.00981812452942,1.070020356,0.592802721275,-0.00114388860593,1.06969207176
+226,3.766666667,pose1_to_pose2_press,0.622251952342,-0.00981816514833,1.07002040692,0.592823095779,-0.00114393243093,1.06969211208
+227,3.783333333,pose1_to_pose2_press,0.622267285401,-0.00981825731215,1.07002049815,0.59283843131,-0.00114401611831,1.06969220368
+228,3.800000000,pose1_to_pose2_press,0.622278243086,-0.0098182035019,1.07002045705,0.592849387201,-0.00114396846818,1.06969215982
+229,3.816666667,pose1_to_pose2_press,0.622284863049,-0.0098181711412,1.07002045217,0.592856005961,-0.00114394027961,1.06969215227
+230,3.833333333,pose1_to_pose2_press,0.622288669802,-0.00981821694411,1.07002055914,0.592859813606,-0.0011439831408,1.06969225663
+231,3.850000000,pose1_to_pose2_press,0.62229052716,-0.00981823929187,1.07002061133,0.592861671399,-0.00114400405326,1.06969230755
+232,3.866666667,pose1_to_pose2_press,0.62229157954,-0.00981825195413,1.07002064091,0.592862724026,-0.00114401590228,1.0696923364
+233,3.883333333,pose1_to_pose2_press,0.622292345267,-0.00981826116737,1.07002066242,0.592863489932,-0.00114402452379,1.06969235739
+234,3.900000000,pose1_to_pose2_press,0.622293140672,-0.00981826221164,1.07002067306,0.59286428542,-0.00114402529651,1.06969236774
+235,3.916666667,pose1_to_pose2_press,0.622293995158,-0.00981824346152,1.07002065719,0.592865139754,-0.00114400705434,1.06969235213
+236,3.933333333,pose1_to_pose2_press,0.622294955706,-0.00981822238406,1.07002063936,0.592866100132,-0.00114398654788,1.06969233459
+237,3.950000000,pose1_to_pose2_press,0.622295886148,-0.00981820196723,1.07002062208,0.592867030408,-0.00114396668416,1.0696923176
+238,3.966666667,pose1_to_pose2_press,0.6222967415,-0.00981818319812,1.07002060619,0.592867885607,-0.00114394842352,1.06969230198
+239,3.983333333,pose1_to_pose2_press,0.622297514736,-0.00981816623086,1.07002059183,0.592868658706,-0.00114393191592,1.06969228786
+240,4.000000000,pose1_to_pose2_press,0.62229821863,-0.00981815078522,1.07002057876,0.592869362474,-0.00114391688872,1.069692275
+241,4.016666667,pose1_to_pose2_press,0.622298894748,-0.00981813594906,1.07002056621,0.592870038472,-0.00114390245447,1.06969226265
+242,4.033333333,pose1_to_pose2_press,0.622299814385,-0.00981817162033,1.07002055811,0.592870958701,-0.00114393609212,1.06969225536
+243,4.050000000,pose1_to_pose2_press,0.622301009706,-0.00981822746581,1.07002054911,0.592872154918,-0.00114398885633,1.0696922475
+244,4.066666667,pose1_to_pose2_press,0.622302275314,-0.00981828659514,1.07002053958,0.592873421476,-0.00114404472321,1.06969223918
+245,4.083333333,pose1_to_pose2_press,0.622303424303,-0.00981826587016,1.07002052521,0.592874569554,-0.00114402693145,1.0696922288
+246,4.100000000,pose1_to_pose2_press,0.622304496246,-0.00981825446623,1.07002051608,0.59287564109,-0.00114401679224,1.06969222252
+247,4.116666667,pose1_to_pose2_press,0.622305223988,-0.00981826326887,1.07002052571,0.592876369694,-0.00114402273268,1.0696922301
+248,4.133333333,pose1_to_pose2_press,0.622305433769,-0.00981829604894,1.07002039324,0.592876579857,-0.00114405410894,1.0696921007
+249,4.150000000,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579862,-0.00114405411228,1.0696921007
+250,4.166666667,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579863,-0.00114405411275,1.0696921007
+251,4.183333333,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579863,-0.00114405411285,1.0696921007
+252,4.200000000,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579863,-0.00114405411283,1.0696921007
+253,4.216666667,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579863,-0.00114405411273,1.0696921007
+254,4.233333333,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579864,-0.00114405411278,1.0696921007
+255,4.250000000,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579864,-0.00114405411281,1.0696921007
+256,4.266666667,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579865,-0.00114405411333,1.0696921007
+257,4.283333333,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579864,-0.00114405411319,1.0696921007
+258,4.300000000,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579865,-0.00114405411346,1.0696921007
+259,4.316666667,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579865,-0.00114405411353,1.0696921007
+260,4.333333333,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579865,-0.00114405411355,1.0696921007
+261,4.350000000,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579866,-0.00114405411354,1.0696921007
+262,4.366666667,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579866,-0.00114405411343,1.0696921007
+263,4.383333333,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579866,-0.00114405411341,1.0696921007
+264,4.400000000,pose2_hold,0.622305433769,-0.00981829604894,1.07002039324,0.592876579866,-0.00114405411349,1.0696921007
+265,4.416666667,pose2_to_pose3_retreat,0.622305433769,-0.00981829604894,1.07002039324,0.592876579867,-0.00114405411355,1.0696921007
+266,4.433333333,pose2_to_pose3_retreat,0.622305374891,-0.00981825783365,1.07002051317,0.592876520059,-0.00114401906182,1.06969222045
+267,4.450000000,pose2_to_pose3_retreat,0.622305183734,-0.00981827709473,1.0700206284,0.592876329037,-0.00114403792197,1.069692334
+268,4.466666667,pose2_to_pose3_retreat,0.622304902233,-0.00981830272705,1.07002075857,0.592876047832,-0.00114406262201,1.0696924621
+269,4.483333333,pose2_to_pose3_retreat,0.622304649868,-0.00981831581031,1.07002073218,0.592875796087,-0.00114407363114,1.06969243516
+270,4.500000000,pose2_to_pose3_retreat,0.622304418862,-0.00981832778622,1.07002070802,0.592875565648,-0.00114408370848,1.0696924105
+271,4.516666667,pose2_to_pose3_retreat,0.62230396137,-0.00981835150369,1.07002066017,0.592875109282,-0.00114410366594,1.06969236167
+272,4.533333333,pose2_to_pose3_retreat,0.622303462299,-0.00981834127372,1.07002063697,0.592874609973,-0.001144094284,1.0696923373
+273,4.550000000,pose2_to_pose3_retreat,0.622303443261,-0.00981834062185,1.0700206363,0.592874590916,-0.00114409370035,1.06969233658
+274,4.566666667,pose2_to_pose3_retreat,0.622301662371,-0.00981827964225,1.07002057316,0.592872808186,-0.00114403910241,1.06969226917
+275,4.583333333,pose2_to_pose3_retreat,0.622296952615,-0.00981830664435,1.07002053463,0.592868097803,-0.00114406812285,1.06969223514
+276,4.600000000,pose2_to_pose3_retreat,0.622284798933,-0.00981818448205,1.07002060127,0.592855943372,-0.00114394834381,1.06969230476
+277,4.616666667,pose2_to_pose3_retreat,0.622264369446,-0.00981818390842,1.07002063382,0.592835514678,-0.00114394527678,1.06969233412
+278,4.633333333,pose2_to_pose3_retreat,0.62223353668,-0.00981824308319,1.07002050913,0.59280468224,-0.00114400289693,1.06969221625
+279,4.650000000,pose2_to_pose3_retreat,0.62219256881,-0.00981819204051,1.07002041786,0.592763713308,-0.00114395522382,1.06969212867
+280,4.666666667,pose2_to_pose3_retreat,0.622141121552,-0.00981820121167,1.07002049116,0.592712265431,-0.00114396632963,1.06969220401
+281,4.683333333,pose2_to_pose3_retreat,0.6220820182,-0.00981803679472,1.07002050811,0.592653160389,-0.00114380839745,1.06969221651
+282,4.700000000,pose2_to_pose3_retreat,0.622015725668,-0.00981803931393,1.07002053194,0.592586867856,-0.00114381136819,1.06969223372
+283,4.716666667,pose2_to_pose3_retreat,0.621940698673,-0.00981818090492,1.0700205878,0.592511842094,-0.00114394860178,1.06969228685
+284,4.733333333,pose2_to_pose3_retreat,0.621856767369,-0.00981818609183,1.07002068216,0.592427910499,-0.00114395502841,1.06969238404
+285,4.750000000,pose2_to_pose3_retreat,0.62176238553,-0.00981828149338,1.0700207823,0.592333531275,-0.00114404186164,1.06969247869
+286,4.766666667,pose2_to_pose3_retreat,0.621655806733,-0.00981811746229,1.07002062932,0.592226951381,-0.00114388130904,1.0696923356
+287,4.783333333,pose2_to_pose3_retreat,0.621535563022,-0.00981813444533,1.07002054791,0.592106707209,-0.00114390008289,1.0696922519
+288,4.800000000,pose2_to_pose3_retreat,0.621398427738,-0.0098183087282,1.07002056882,0.591969573924,-0.00114406817779,1.06969226353
+289,4.816666667,pose2_to_pose3_retreat,0.621244015938,-0.00981836233858,1.07002045993,0.591815163444,-0.00114411731012,1.06969216372
+290,4.833333333,pose2_to_pose3_retreat,0.621070921678,-0.00981832385168,1.07002044755,0.591642069055,-0.00114407931691,1.06969215499
+291,4.850000000,pose2_to_pose3_retreat,0.620879360559,-0.00981825589708,1.07002058348,0.591450507283,-0.00114401390734,1.06969228512
+292,4.866666667,pose2_to_pose3_retreat,0.620667835574,-0.0098182004635,1.07002070893,0.591238982526,-0.001143957849,1.06969241354
+293,4.883333333,pose2_to_pose3_retreat,0.620439121608,-0.0098182841119,1.07002083332,0.59101027022,-0.00114403612783,1.0696925375
+294,4.900000000,pose2_to_pose3_retreat,0.620192536958,-0.00981832186962,1.07002050509,0.590763685854,-0.00114407308384,1.06969221316
+295,4.916666667,pose2_to_pose3_retreat,0.61992493481,-0.00981804974346,1.07002077969,0.590496076442,-0.00114382635089,1.06969247483
+296,4.933333333,pose2_to_pose3_retreat,0.619637458163,-0.00981824568864,1.0700206785,0.590208604849,-0.00114400524757,1.06969238048
+297,4.950000000,pose2_to_pose3_retreat,0.619330902852,-0.00981821207984,1.07002063245,0.589902049221,-0.0011439729416,1.06969233815
+298,4.966666667,pose2_to_pose3_retreat,0.619008239382,-0.00981817858916,1.0700206532,0.589579385112,-0.00114394218357,1.06969235432
+299,4.983333333,pose2_to_pose3_retreat,0.618670184855,-0.00981817374959,1.07002069965,0.589241330636,-0.00114393756297,1.06969240145
+300,5.000000000,pose2_to_pose3_retreat,0.618317866437,-0.0098181665804,1.07002067571,0.588889012434,-0.00114392976439,1.06969238614
+301,5.016666667,pose2_to_pose3_retreat,0.617950012381,-0.00981821458161,1.07002048113,0.588521159744,-0.00114397345938,1.06969219384
+302,5.033333333,pose2_to_pose3_retreat,0.617561213279,-0.00981830957006,1.07002038799,0.588132361514,-0.00114406593575,1.06969209947
+303,5.050000000,pose2_to_pose3_retreat,0.617148578303,-0.0098180787763,1.07002046245,0.587719723254,-0.00114384677614,1.06969217372
+304,5.066666667,pose2_to_pose3_retreat,0.616706160952,-0.00981805225938,1.07002060314,0.587277306002,-0.00114382069305,1.06969230635
+305,5.083333333,pose2_to_pose3_retreat,0.616236084417,-0.00981806903995,1.07002074651,0.586807230581,-0.00114383459452,1.06969244184
+306,5.100000000,pose2_to_pose3_retreat,0.615737777492,-0.00981810056394,1.07002079928,0.586308924507,-0.0011438636934,1.06969249625
+307,5.116666667,pose2_to_pose3_retreat,0.615222127354,-0.00981820683487,1.07002069079,0.585793275098,-0.00114396749608,1.0696923965
+308,5.133333333,pose2_to_pose3_retreat,0.614692512153,-0.00981826501141,1.0700205107,0.585263659548,-0.00114402720626,1.06969222037
+309,5.150000000,pose2_to_pose3_retreat,0.614151170431,-0.00981809019773,1.07002062215,0.584722315849,-0.00114385955755,1.06969233255
+310,5.166666667,pose2_to_pose3_retreat,0.613598738786,-0.00981817984068,1.07002050376,0.584169885726,-0.00114394424529,1.06969221561
+311,5.183333333,pose2_to_pose3_retreat,0.613033571823,-0.00981822642236,1.07002050135,0.583604719868,-0.00114398738403,1.06969221057
+312,5.200000000,pose2_to_pose3_retreat,0.612448361907,-0.00981823978164,1.07002066576,0.583019508953,-0.00114400458235,1.0696923658
+313,5.216666667,pose2_to_pose3_retreat,0.611841875284,-0.00981821982032,1.07002068724,0.582413021613,-0.00114398710586,1.06969238644
+314,5.233333333,pose2_to_pose3_retreat,0.611215246909,-0.009818207013,1.07002047429,0.581786394295,-0.00114397034119,1.06969218332
+315,5.250000000,pose2_to_pose3_retreat,0.610566348558,-0.00981825411213,1.07002037975,0.581137496711,-0.00114401483366,1.06969208891
+316,5.266666667,pose2_to_pose3_retreat,0.609885591683,-0.00981817742331,1.07002041314,0.580456738559,-0.00114394271773,1.06969211588
+317,5.283333333,pose2_to_pose3_retreat,0.609185640818,-0.0098182888296,1.07002029338,0.579756789867,-0.0011440465838,1.06969199911
+318,5.300000000,pose2_to_pose3_retreat,0.60847419776,-0.0098181843145,1.07002069274,0.579045344957,-0.00114394871268,1.06969238908
+319,5.316666667,pose2_to_pose3_retreat,0.607757441687,-0.00981826228514,1.0700204519,0.578328588859,-0.00114402645231,1.0696921567
+320,5.333333333,pose2_to_pose3_retreat,0.607040464276,-0.00981831743284,1.07002045186,0.577611613012,-0.00114407619323,1.0696921592
+321,5.350000000,pose2_to_pose3_retreat,0.60632836688,-0.00981825817785,1.07002063666,0.576899515798,-0.00114401636821,1.06969234265
+322,5.366666667,pose2_to_pose3_retreat,0.605608015989,-0.00981815737204,1.0700206002,0.576179162877,-0.00114392230982,1.06969230984
+323,5.383333333,pose2_to_pose3_retreat,0.604865458268,-0.00981814316523,1.0700205106,0.575436604532,-0.00114391028779,1.06969221847
+324,5.400000000,pose2_to_pose3_retreat,0.604093183639,-0.00981816133686,1.07002062759,0.574664331581,-0.00114392289327,1.06969233197
+325,5.416666667,pose2_to_pose3_retreat,0.603289089764,-0.00981815263383,1.07002031781,0.573860236402,-0.00114391846881,1.06969202601
+326,5.433333333,pose2_to_pose3_retreat,0.602471529958,-0.00981820088132,1.07002037123,0.573042676389,-0.00114396751749,1.06969207673
+327,5.450000000,pose2_to_pose3_retreat,0.60165044748,-0.00981814951264,1.07002067652,0.572221592856,-0.0011439200248,1.06969237412
+328,5.466666667,pose2_to_pose3_retreat,0.600847570323,-0.00981815497761,1.07002049469,0.571418716762,-0.00114392164559,1.06969219848
+329,5.483333333,pose2_to_pose3_retreat,0.600060101193,-0.00981825242557,1.07002037132,0.570631250125,-0.00114401052562,1.06969207799
+330,5.500000000,pose2_to_pose3_retreat,0.599282633341,-0.00981828331427,1.07002052754,0.569853782767,-0.00114403987859,1.0696922304
+331,5.516666667,pose2_to_pose3_retreat,0.598504200062,-0.0098181647285,1.0700204893,0.569075347153,-0.00114392897005,1.06969219872
+332,5.533333333,pose2_to_pose3_retreat,0.597719372456,-0.00981832124737,1.07002034939,0.568290522767,-0.0011440743536,1.06969206431
+333,5.550000000,pose2_to_pose3_retreat,0.596914227442,-0.0098182163234,1.0700206078,0.567485375422,-0.00114397763646,1.06969231471
+334,5.566666667,pose2_to_pose3_retreat,0.596101051467,-0.00981827364651,1.0700206316,0.566672200346,-0.0011440319256,1.0696923381
+335,5.583333333,pose2_to_pose3_retreat,0.595295801845,-0.00981817569894,1.07002070255,0.565866948593,-0.00114394111915,1.06969241125
+336,5.600000000,pose2_to_pose3_retreat,0.594509414475,-0.00981822040347,1.07002061089,0.565080562271,-0.00114398233304,1.06969231791
+337,5.616666667,pose2_to_pose3_retreat,0.593748691548,-0.00981818690589,1.07002052594,0.564319838613,-0.00114395142996,1.06969222991
+338,5.633333333,pose2_to_pose3_retreat,0.593004583306,-0.00981813247638,1.07002056433,0.563575728904,-0.00114390202298,1.06969226705
+339,5.650000000,pose2_to_pose3_retreat,0.592271504923,-0.00981829203318,1.07002066407,0.562842653742,-0.00114405064071,1.06969236701
+340,5.666666667,pose2_to_pose3_retreat,0.591539293111,-0.0098181841592,1.07002077574,0.562110441683,-0.00114394368661,1.06969247651
+341,5.683333333,pose2_to_pose3_retreat,0.590804772408,-0.0098183723524,1.07002055745,0.561375922202,-0.0011441276106,1.0696922615
+342,5.700000000,pose2_to_pose3_retreat,0.590069293087,-0.00981831893865,1.07002041238,0.560640442001,-0.00114407701557,1.06969212073
+343,5.716666667,pose2_to_pose3_retreat,0.589340494889,-0.00981827339328,1.07002039289,0.5599116428,-0.0011440349293,1.06969209979
+344,5.733333333,pose2_to_pose3_retreat,0.588619223028,-0.00981823913238,1.07002056713,0.559190369637,-0.00114400549498,1.06969226325
+345,5.750000000,pose2_to_pose3_retreat,0.587924976296,-0.00981827640607,1.07002057127,0.558496123937,-0.00114403930477,1.06969226636
+346,5.766666667,pose2_to_pose3_retreat,0.587253870015,-0.00981832284603,1.07002045984,0.557825019374,-0.00114407971396,1.06969216023
+347,5.783333333,pose2_to_pose3_retreat,0.586603496267,-0.00981826193184,1.07002060641,0.557174644296,-0.00114402347287,1.06969230251
+348,5.800000000,pose2_to_pose3_retreat,0.585973840175,-0.00981823794055,1.07002075703,0.556544987705,-0.00114400089626,1.06969246055
+349,5.816666667,pose2_to_pose3_retreat,0.585363898548,-0.00981834505199,1.07002068258,0.555935048315,-0.00114410067751,1.06969237912
+350,5.833333333,pose2_to_pose3_retreat,0.584765362546,-0.00981815661577,1.07002055542,0.555336509583,-0.00114392127152,1.06969225808
+351,5.850000000,pose2_to_pose3_retreat,0.584180242363,-0.00981825991239,1.07002057279,0.554751391196,-0.00114401887911,1.0696922648
+352,5.866666667,pose2_to_pose3_retreat,0.583616679507,-0.00981836777377,1.07002049361,0.554187829434,-0.00114412292915,1.06969218824
+353,5.883333333,pose2_to_pose3_retreat,0.583077303457,-0.00981829300327,1.07002046223,0.553648451947,-0.00114405278186,1.06969216358
+354,5.900000000,pose2_to_pose3_retreat,0.58256467723,-0.00981818766423,1.07002052906,0.553135823987,-0.00114395324305,1.06969223239
+355,5.916666667,pose2_to_pose3_retreat,0.582067801825,-0.00981829433013,1.07002050286,0.552638948885,-0.00114405862702,1.06969221294
+356,5.933333333,pose2_to_pose3_retreat,0.581581500022,-0.00981834004858,1.07002052232,0.552152647442,-0.00114410334504,1.06969222659
+357,5.950000000,pose2_to_pose3_retreat,0.581108907742,-0.00981817047751,1.07002046959,0.551680054893,-0.00114393419796,1.06969218673
+358,5.966666667,pose2_to_pose3_retreat,0.580653875016,-0.00981827452861,1.07002052664,0.551225023971,-0.00114403268777,1.06969222904
+359,5.983333333,pose2_to_pose3_retreat,0.580226725875,-0.00981825803095,1.07002053032,0.550797874151,-0.00114401850435,1.06969223287
+360,6.000000000,pose2_to_pose3_retreat,0.579831600486,-0.00981822894195,1.07002068563,0.550402747603,-0.00114399345726,1.06969238535
+361,6.016666667,pose2_to_pose3_retreat,0.579471390898,-0.00981822413084,1.07002064019,0.550042537591,-0.0011439901065,1.06969233939
+362,6.033333333,pose2_to_pose3_retreat,0.579130882964,-0.00981825874252,1.0700204461,0.549702030458,-0.00114402187207,1.06969214884
+363,6.050000000,pose2_to_pose3_retreat,0.578806685458,-0.00981832872968,1.0700205607,0.549377834696,-0.00114408598306,1.06969226253
+364,6.066666667,pose2_to_pose3_retreat,0.578494371106,-0.00981814110431,1.07002077758,0.549065517827,-0.00114390695958,1.06969247731
+365,6.083333333,pose2_to_pose3_retreat,0.578195705739,-0.00981805902428,1.0700202999,0.548766851066,-0.0011438289126,1.06969201793
+366,6.100000000,pose2_to_pose3_retreat,0.577916539309,-0.00981819937419,1.07002053887,0.548487686433,-0.00114396355728,1.06969224656
+367,6.116666667,pose2_to_pose3_retreat,0.577658920854,-0.00981826726022,1.07002058393,0.548230069133,-0.0011440277962,1.06969228448
+368,6.133333333,pose2_to_pose3_retreat,0.577424306212,-0.00981825221978,1.07002060448,0.547995453889,-0.00114401483369,1.06969230409
+369,6.150000000,pose2_to_pose3_retreat,0.577209626065,-0.00981821640451,1.07002060111,0.54778077279,-0.00114398209115,1.06969230502
+370,6.166666667,pose2_to_pose3_retreat,0.57701311484,-0.00981822805088,1.07002044742,0.547584261859,-0.00114399261065,1.0696921548
+371,6.183333333,pose2_to_pose3_retreat,0.576833866468,-0.00981834012358,1.07002034827,0.547405015197,-0.00114409924797,1.069692046
+372,6.200000000,pose2_to_pose3_retreat,0.576671223318,-0.00981837507235,1.07002075959,0.547242373868,-0.00114412794856,1.06969245917
+373,6.216666667,pose2_to_pose3_retreat,0.576526792859,-0.00981820635262,1.07002054788,0.547097940568,-0.00114396858502,1.06969225503
+374,6.233333333,pose2_to_pose3_retreat,0.576399080939,-0.00981821242051,1.07002033231,0.546970227898,-0.00114397705998,1.06969204307
+375,6.250000000,pose2_to_pose3_retreat,0.576287634834,-0.00981832526531,1.07002026233,0.546858782905,-0.0011440861858,1.0696919716
+376,6.266666667,pose2_to_pose3_retreat,0.57618811202,-0.00981834862358,1.0700203464,0.546759260355,-0.00114410871329,1.06969205402
+377,6.283333333,pose2_to_pose3_retreat,0.576098973631,-0.00981819736659,1.07002052961,0.546670120154,-0.00114396360812,1.0696922373
+378,6.300000000,pose2_to_pose3_retreat,0.576019732562,-0.00981827718059,1.07002067972,0.546590881404,-0.00114403606405,1.06969237448
+379,6.316666667,pose2_to_pose3_retreat,0.575949764652,-0.00981827192684,1.07002063341,0.546520911975,-0.00114403557816,1.0696923382
+380,6.333333333,pose2_to_pose3_retreat,0.575889837405,-0.00981825677436,1.07002051823,0.546460985402,-0.00114401785934,1.06969223033
+381,6.350000000,pose2_to_pose3_retreat,0.575839622653,-0.00981836641253,1.07002032815,0.546410771584,-0.00114412419604,1.06969204372
+382,6.366666667,pose2_to_pose3_retreat,0.57579858098,-0.00981837984744,1.07002041098,0.546369729585,-0.00114413886533,1.0696921231
+383,6.383333333,pose2_to_pose3_retreat,0.575765589868,-0.00981823616058,1.0700205493,0.546336736741,-0.00114400120042,1.06969225758
+384,6.400000000,pose2_to_pose3_retreat,0.57573920182,-0.00981807636273,1.07002036323,0.546310346626,-0.00114384830627,1.06969207444
+385,6.416666667,pose2_to_pose3_retreat,0.575718480068,-0.00981815006414,1.07002027508,0.54628962556,-0.00114391972892,1.069691985
+386,6.433333333,pose2_to_pose3_retreat,0.575702418927,-0.00981825082946,1.07002051187,0.546273566886,-0.00114401263437,1.0696922083
+387,6.450000000,pose2_to_pose3_retreat,0.575690741642,-0.00981826646573,1.07002053298,0.546261891045,-0.00114402312432,1.06969223598
+388,6.466666667,pose2_to_pose3_retreat,0.575682209655,-0.00981825591279,1.07002055271,0.546253358395,-0.0011440146214,1.06969226098
+389,6.483333333,pose2_to_pose3_retreat,0.575676556393,-0.00981825134745,1.07002063505,0.546247703198,-0.00114401674711,1.06969233996
+390,6.500000000,pose2_to_pose3_retreat,0.575673307247,-0.00981825086877,1.07002056128,0.546244454884,-0.00114401342228,1.06969226682
+391,6.516666667,pose2_to_pose3_retreat,0.575671483953,-0.00981825266161,1.0700205331,0.546242632072,-0.00114401358107,1.06969223865
+392,6.533333333,pose2_to_pose3_retreat,0.575670607359,-0.00981826872664,1.07002061697,0.546241755818,-0.00114402858828,1.06969231998
+393,6.550000000,pose2_to_pose3_retreat,0.575670057337,-0.0098182788067,1.0700206696,0.546241206009,-0.00114403800462,1.06969237101
+394,6.566666667,pose2_to_pose3_retreat,0.575669770775,-0.00981828405842,1.07002069702,0.546240919558,-0.00114404291054,1.0696923976
+395,6.583333333,pose2_to_pose3_retreat,0.575669476031,-0.00981828946009,1.07002072523,0.546240624928,-0.00114404795653,1.06969242495
+396,6.600000000,pose2_to_pose3_retreat,0.575669196983,-0.00981829457408,1.07002075193,0.546240345989,-0.00114405273379,1.06969245084
+397,6.616666667,pose2_to_pose3_retreat,0.57566893021,-0.00981829946315,1.07002077745,0.546240079319,-0.00114405730093,1.06969247559
+398,6.633333333,pose2_to_pose3_retreat,0.57566870276,-0.00981830163764,1.07002079342,0.546239851913,-0.00114405934683,1.069692491
+399,6.650000000,pose2_to_pose3_retreat,0.575668597497,-0.00981829680491,1.07002078384,0.546239746542,-0.00114405488178,1.06969248148
+400,6.666666667,pose2_to_pose3_retreat,0.575668301322,-0.00981828320718,1.07002075689,0.54623945006,-0.00114404231856,1.06969245468
+401,6.683333333,pose2_to_pose3_retreat,0.575667848743,-0.00981826242873,1.0700207157,0.546238997013,-0.00114402312094,1.06969241374
+402,6.700000000,pose2_to_pose3_retreat,0.575667713071,-0.00981825619987,1.07002070335,0.546238861201,-0.00114401736597,1.06969240147
+403,6.716666667,pose2_to_pose3_retreat,0.575667678884,-0.00981825463031,1.07002070024,0.546238826978,-0.00114401591582,1.06969239837
+404,6.733333333,pose2_to_pose3_retreat,0.575667605366,-0.00981825125503,1.07002069355,0.546238753385,-0.00114401279733,1.06969239172
+405,6.750000000,pose2_to_pose3_retreat,0.575667329768,-0.00981822881934,1.07002065151,0.546238477288,-0.0011439920093,1.06969235088
+406,6.766666667,pose2_to_pose3_retreat,0.575667029027,-0.0098181695923,1.0700205454,0.546238175243,-0.00114393701316,1.06969224984
+407,6.783333333,pose2_to_pose3_retreat,0.575666843295,-0.00981820555393,1.07002041138,0.546237989786,-0.00114397172173,1.06969212429
+408,6.800000000,pose2_to_pose3_retreat,0.575666795337,-0.00981822170923,1.07002037029,0.546237942002,-0.00114398718736,1.06969208589
+409,6.816666667,pose2_to_pose3_retreat,0.575666768001,-0.00981823168382,1.07002034685,0.546237914758,-0.00114399679025,1.06969206399
+410,6.833333333,pose2_to_pose3_retreat,0.575666768049,-0.0098182357838,1.07002034678,0.546237914771,-0.00114400100608,1.06969206398
+411,6.850000000,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914776,-0.00114400271446,1.06969206398

Obstacle_avoidance/cylinder_15A_10/position_09/depth_01/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a30f886ffe8f6d99feb144f19b89981d4b8852d35e9e63fb380ab98188502a6
+size 25836451

Obstacle_avoidance/cylinder_15A_10/position_09/depth_01/simulation_data.csv

@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+1,0.016666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+2,0.033333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+3,0.050000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+4,0.066666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+5,0.083333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+6,0.100000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+7,0.116666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+8,0.133333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+9,0.150000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+10,0.166666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+11,0.183333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+12,0.200000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+13,0.216666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+14,0.233333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+15,0.250000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+16,0.266666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+17,0.283333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+18,0.300000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+19,0.316666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+20,0.333333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+21,0.350000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+22,0.366666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+23,0.383333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+24,0.400000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+25,0.416666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+26,0.433333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+27,0.450000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+28,0.466666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+29,0.483333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+30,0.500000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+31,0.516666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+32,0.533333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+33,0.550000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+34,0.566666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+35,0.583333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+36,0.600000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+37,0.616666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+38,0.633333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+39,0.650000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+40,0.666666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+41,0.683333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+42,0.700000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+43,0.716666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+44,0.733333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+45,0.750000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+46,0.766666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+47,0.783333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+48,0.800000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+49,0.816666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+50,0.833333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+51,0.850000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+52,0.866666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+53,0.883333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+54,0.900000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+55,0.916666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+56,0.933333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+57,0.950000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+58,0.966666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+59,0.983333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+60,1.000000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+61,1.016666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+62,1.033333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+63,1.050000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+64,1.066666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+65,1.083333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+66,1.100000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+67,1.116666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+68,1.133333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+69,1.150000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+70,1.166666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+71,1.183333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+72,1.200000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+73,1.216666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+74,1.233333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+75,1.250000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+76,1.266666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+77,1.283333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+78,1.300000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+79,1.316666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+80,1.333333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+81,1.350000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+82,1.366666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+83,1.383333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+84,1.400000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+85,1.416666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+86,1.433333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+87,1.450000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+88,1.466666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+89,1.483333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+90,1.500000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+91,1.516666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+92,1.533333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+93,1.550000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+94,1.566666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+95,1.583333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+96,1.600000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+97,1.616666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+98,1.633333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+99,1.650000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+100,1.666666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+101,1.683333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+102,1.700000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+103,1.716666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+104,1.733333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+105,1.750000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+106,1.766666667,pose1_to_pose2_press,0.575666887516,0.0101817895731,1.05002057493,0.546238035611,0.0188560282868,1.04969227307
+107,1.783333333,pose1_to_pose2_press,0.575666833074,0.0101818877599,1.05002055908,0.546237980168,0.0188561231703,1.04969225968
+108,1.800000000,pose1_to_pose2_press,0.575666998871,0.010181849178,1.05002051245,0.546238146129,0.0188560852543,1.04969221589
+109,1.816666667,pose1_to_pose2_press,0.57566700571,0.0101818473251,1.05002051062,0.546238152978,0.0188560834383,1.04969221416
+110,1.833333333,pose1_to_pose2_press,0.575667231045,0.0101817862757,1.05002045038,0.546238378632,0.0188560236047,1.04969215744
+111,1.850000000,pose1_to_pose2_press,0.575667754118,0.0101817409237,1.05002032804,0.546238901859,0.018855978963,1.0496920401
+112,1.866666667,pose1_to_pose2_press,0.575669475637,0.0101817679529,1.05002019711,0.546240622929,0.0188560045619,1.04969191154
+113,1.883333333,pose1_to_pose2_press,0.575673432945,0.0101817587341,1.05002044639,0.546244580482,0.0188559959367,1.04969215457
+114,1.900000000,pose1_to_pose2_press,0.575681044748,0.010181825897,1.05002038212,0.546252192712,0.0188560646238,1.04969209246
+115,1.916666667,pose1_to_pose2_press,0.575693628793,0.0101817999193,1.05002046427,0.546264775587,0.0188560344746,1.04969216914
+116,1.933333333,pose1_to_pose2_press,0.575711812258,0.0101816904027,1.05002054899,0.546282960215,0.0188559288512,1.04969225224
+117,1.950000000,pose1_to_pose2_press,0.575736309459,0.0101817175838,1.05002028024,0.546307456892,0.0188559545345,1.04969199089
+118,1.966666667,pose1_to_pose2_press,0.575766519804,0.0101816724775,1.05002067023,0.546337669101,0.0188559154177,1.04969237197
+119,1.983333333,pose1_to_pose2_press,0.575801670311,0.0101815962872,1.05002046351,0.546372818603,0.0188558357884,1.0496921645
+120,2.000000000,pose1_to_pose2_press,0.575842576896,0.0101816863451,1.05002050959,0.546413724773,0.0188559245857,1.04969221437
+121,2.016666667,pose1_to_pose2_press,0.575890664998,0.0101817802838,1.05002039956,0.546461811086,0.018856012447,1.04969210408
+122,2.033333333,pose1_to_pose2_press,0.575947373361,0.0101818792934,1.05002046035,0.546518518908,0.0188561096597,1.04969216579
+123,2.050000000,pose1_to_pose2_press,0.576013532465,0.0101818844925,1.0500205677,0.546584678929,0.0188561181062,1.04969227668
+124,2.066666667,pose1_to_pose2_press,0.576093045837,0.0101817649322,1.05002042224,0.546664192732,0.018856000059,1.04969213252
+125,2.083333333,pose1_to_pose2_press,0.576184899397,0.0101818579903,1.05002050764,0.546756046633,0.0188560942504,1.04969221719
+126,2.100000000,pose1_to_pose2_press,0.576288650454,0.0101818846291,1.05002031767,0.546859797844,0.0188561221737,1.04969204748
+127,2.116666667,pose1_to_pose2_press,0.576405359325,0.0101817963145,1.050020538,0.546976507904,0.0188560369021,1.04969224155
+128,2.133333333,pose1_to_pose2_press,0.576535582449,0.0101816737095,1.05002086306,0.547106733161,0.0188559212836,1.04969255995
+129,2.150000000,pose1_to_pose2_press,0.576680710186,0.0101817539584,1.05002072649,0.547251858159,0.0188559926794,1.04969243503
+130,2.166666667,pose1_to_pose2_press,0.576841739298,0.0101818117923,1.05002065069,0.547412886511,0.0188560478788,1.04969235761
+131,2.183333333,pose1_to_pose2_press,0.577020620533,0.0101817739152,1.0500205514,0.547591768877,0.0188560137616,1.04969225616
+132,2.200000000,pose1_to_pose2_press,0.577216062379,0.0101816923336,1.05002040424,0.547787211312,0.0188559343218,1.04969211272
+133,2.216666667,pose1_to_pose2_press,0.577428812845,0.0101816535306,1.05002040785,0.54799996175,0.0188558953502,1.04969211434
+134,2.233333333,pose1_to_pose2_press,0.577655612694,0.0101817415328,1.05002046595,0.54822676092,0.0188559810468,1.0496921724
+135,2.250000000,pose1_to_pose2_press,0.577896329165,0.0101818473651,1.05002091362,0.548467476403,0.0188560833021,1.0496926141
+136,2.266666667,pose1_to_pose2_press,0.578152833656,0.0101816618824,1.05002057202,0.548723983535,0.0188559071024,1.04969228092
+137,2.283333333,pose1_to_pose2_press,0.578425378193,0.0101817512991,1.05002052265,0.548996525636,0.0188559882916,1.04969223256
+138,2.300000000,pose1_to_pose2_press,0.578718577535,0.0101818425061,1.05002047008,0.549289723594,0.0188560746618,1.04969217616
+139,2.316666667,pose1_to_pose2_press,0.579036562286,0.0101818242155,1.05002047463,0.54960770829,0.0188560561351,1.04969217947
+140,2.333333333,pose1_to_pose2_press,0.579384247807,0.0101817902365,1.05002051326,0.549955394585,0.0188560249907,1.04969222346
+141,2.350000000,pose1_to_pose2_press,0.579761901507,0.0101818357836,1.0500205042,0.550333048925,0.0188560728558,1.04969221827
+142,2.366666667,pose1_to_pose2_press,0.580168400367,0.010181848562,1.05002046745,0.550739546758,0.0188560819594,1.0496921764
+143,2.383333333,pose1_to_pose2_press,0.580593863169,0.01018186311,1.05002028189,0.551165009612,0.0188560966768,1.04969199064
+144,2.400000000,pose1_to_pose2_press,0.581032554992,0.010181871289,1.05002032246,0.551603702474,0.0188561081875,1.04969202608
+145,2.416666667,pose1_to_pose2_press,0.58148118248,0.0101818418909,1.05002042352,0.552052329314,0.0188560766057,1.04969212756
+146,2.433333333,pose1_to_pose2_press,0.581941229299,0.0101817714838,1.05002054936,0.55251237678,0.0188560082434,1.04969224927
+147,2.450000000,pose1_to_pose2_press,0.58241575787,0.0101817931916,1.05002074502,0.552986905217,0.0188560295341,1.049692446
+148,2.466666667,pose1_to_pose2_press,0.582915489928,0.0101817261111,1.05002063783,0.553486637895,0.0188559645609,1.04969233882
+149,2.483333333,pose1_to_pose2_press,0.583439942784,0.0101817609854,1.05002069035,0.55401109138,0.018856001602,1.04969239224
+150,2.500000000,pose1_to_pose2_press,0.583986322628,0.0101818346414,1.05002067156,0.554557470505,0.0188560729367,1.04969237655
+151,2.516666667,pose1_to_pose2_press,0.584545333744,0.0101818333015,1.05002050231,0.555116480448,0.0188560675639,1.04969220582
+152,2.533333333,pose1_to_pose2_press,0.585110707008,0.0101817829671,1.050020464,0.555681853852,0.0188560176054,1.04969216486
+153,2.550000000,pose1_to_pose2_press,0.585692600393,0.0101817466461,1.05002046878,0.556263748268,0.0188559852798,1.04969218286
+154,2.566666667,pose1_to_pose2_press,0.586296521972,0.010181827371,1.05002028152,0.556867670264,0.0188560672651,1.04969199147
+155,2.583333333,pose1_to_pose2_press,0.586925991826,0.0101817941402,1.05002066532,0.557497140059,0.0188560333867,1.04969236351
+156,2.600000000,pose1_to_pose2_press,0.587580923046,0.0101818529421,1.05002049639,0.558152070556,0.0188560897396,1.04969219473
+157,2.616666667,pose1_to_pose2_press,0.588260612305,0.0101817820494,1.05002031734,0.558831760255,0.0188560207449,1.04969202636
+158,2.633333333,pose1_to_pose2_press,0.588947924993,0.0101817086769,1.05002056122,0.559519074055,0.0188559508789,1.04969226317
+159,2.650000000,pose1_to_pose2_press,0.589637720776,0.0101816432269,1.05002060134,0.560208869463,0.0188558840994,1.04969230178
+160,2.666666667,pose1_to_pose2_press,0.590322957724,0.0101816663112,1.05002053819,0.560894106033,0.0188559060709,1.04969224316
+161,2.683333333,pose1_to_pose2_press,0.591004752308,0.0101817113119,1.05002048264,0.561575900858,0.0188559520082,1.04969219082
+162,2.700000000,pose1_to_pose2_press,0.591690249672,0.0101817019333,1.05002045912,0.562261398732,0.0188559443728,1.04969216761
+163,2.716666667,pose1_to_pose2_press,0.592387606455,0.0101817192242,1.05002062547,0.562958756363,0.0188559645073,1.04969233304
+164,2.733333333,pose1_to_pose2_press,0.593112882316,0.0101817745867,1.05002047677,0.563684030457,0.0188560142214,1.04969219355
+165,2.750000000,pose1_to_pose2_press,0.593862953949,0.0101817950479,1.05002049674,0.564434101441,0.018856032363,1.0496922105
+166,2.766666667,pose1_to_pose2_press,0.59463488773,0.0101817980972,1.05002051048,0.565206035928,0.018856037719,1.04969222196
+167,2.783333333,pose1_to_pose2_press,0.595416897796,0.0101817879501,1.05002075748,0.565988045714,0.0188560261628,1.04969245683
+168,2.800000000,pose1_to_pose2_press,0.596197772392,0.0101817202665,1.05002070738,0.566768920377,0.0188559587109,1.04969240692
+169,2.816666667,pose1_to_pose2_press,0.596958426778,0.0101818040623,1.05002066608,0.567529573943,0.018856039842,1.04969236867
+170,2.833333333,pose1_to_pose2_press,0.59770266993,0.0101819027033,1.05002058706,0.568273816153,0.0188561353774,1.04969229219
+171,2.850000000,pose1_to_pose2_press,0.598430655658,0.010181808119,1.05002047895,0.569001803556,0.0188560465205,1.04969218524
+172,2.866666667,pose1_to_pose2_press,0.599166895996,0.0101816885729,1.05002054803,0.569738045744,0.0188559331124,1.04969225068
+173,2.883333333,pose1_to_pose2_press,0.599915858632,0.0101817969428,1.05002079018,0.570487006562,0.018856035078,1.04969248667
+174,2.900000000,pose1_to_pose2_press,0.600667930514,0.0101818267633,1.05002066191,0.571239078074,0.0188560637924,1.04969236239
+175,2.916666667,pose1_to_pose2_press,0.601423428139,0.0101818783204,1.05002056418,0.571994575609,0.0188561149168,1.04969226134
+176,2.933333333,pose1_to_pose2_press,0.602180357949,0.0101819549877,1.05002026901,0.572751504185,0.0188561880064,1.0496919823
+177,2.950000000,pose1_to_pose2_press,0.60291938607,0.0101818083031,1.05002026447,0.57349053456,0.0188560489203,1.04969197663
+178,2.966666667,pose1_to_pose2_press,0.603635334303,0.0101818311386,1.05002035604,0.574206482852,0.0188560720293,1.04969207013
+179,2.983333333,pose1_to_pose2_press,0.604331595326,0.0101819203618,1.0500203607,0.574902741311,0.0188561527035,1.0496920788
+180,3.000000000,pose1_to_pose2_press,0.605010927715,0.0101819197821,1.0500205386,0.575582074114,0.0188561531969,1.049692248
+181,3.016666667,pose1_to_pose2_press,0.605686334159,0.0101817589142,1.05002049218,0.576257482109,0.018855997408,1.04969219678
+182,3.033333333,pose1_to_pose2_press,0.606362092972,0.0101816270186,1.05002029183,0.576933242083,0.0188558695576,1.04969199937
+183,3.050000000,pose1_to_pose2_press,0.607042603075,0.0101817120383,1.05002034186,0.57761375267,0.0188559563756,1.04969205355
+184,3.066666667,pose1_to_pose2_press,0.607717713742,0.0101818174244,1.05002050102,0.578288862073,0.0188560577481,1.04969222005
+185,3.083333333,pose1_to_pose2_press,0.608379926882,0.010181764232,1.05002056132,0.578951074809,0.018856002905,1.04969227307
+186,3.100000000,pose1_to_pose2_press,0.609012881757,0.0101816714317,1.0500203086,0.579584029772,0.0188559100178,1.04969201022
+187,3.116666667,pose1_to_pose2_press,0.60961360964,0.010181640865,1.05002026367,0.580184761491,0.0188558928454,1.04969197545
+188,3.133333333,pose1_to_pose2_press,0.610177957698,0.0101816377383,1.05002060731,0.580749108504,0.0188558859181,1.04969231228
+189,3.150000000,pose1_to_pose2_press,0.610721371909,0.0101817556964,1.05002039146,0.581292519967,0.0188559945878,1.04969209743
+190,3.166666667,pose1_to_pose2_press,0.611248158128,0.0101817933267,1.05002052898,0.581819305766,0.0188560307054,1.04969223271
+191,3.183333333,pose1_to_pose2_press,0.611759800145,0.0101818176808,1.05002065165,0.582330948043,0.0188560560693,1.0496923588
+192,3.200000000,pose1_to_pose2_press,0.612255926362,0.0101817421347,1.0500206733,0.582827075495,0.0188559848384,1.04969238384
+193,3.216666667,pose1_to_pose2_press,0.612740361005,0.0101815812138,1.05002077912,0.583311512314,0.0188558310411,1.04969248284
+194,3.233333333,pose1_to_pose2_press,0.613212642354,0.010181732216,1.05002076123,0.583783792277,0.0188559771036,1.04969245889
+195,3.250000000,pose1_to_pose2_press,0.613669915847,0.0101817719837,1.05002029733,0.58424106328,0.0188560087327,1.04969200327
+196,3.266666667,pose1_to_pose2_press,0.614110035184,0.0101817575351,1.05002049647,0.584681182043,0.0188559925975,1.04969220763
+197,3.283333333,pose1_to_pose2_press,0.61452943406,0.0101818226944,1.05002066609,0.585100580983,0.0188560576297,1.04969236506
+198,3.300000000,pose1_to_pose2_press,0.61491861743,0.0101817534076,1.05002057548,0.585489766095,0.0188559946588,1.04969228104
+199,3.316666667,pose1_to_pose2_press,0.615279648182,0.0101816468142,1.05002046076,0.585850797926,0.0188558919238,1.04969216756
+200,3.333333333,pose1_to_pose2_press,0.615616982588,0.0101816519942,1.05002047618,0.586188131515,0.0188558943528,1.04969217883
+201,3.350000000,pose1_to_pose2_press,0.615938905687,0.0101817585848,1.05002056171,0.586510052707,0.018855994551,1.04969226172
+202,3.366666667,pose1_to_pose2_press,0.616248409368,0.010181806743,1.0500205172,0.586819555753,0.0188560407771,1.04969221978
+203,3.383333333,pose1_to_pose2_press,0.616548219532,0.0101816963409,1.05002028402,0.587119368321,0.0188559390588,1.04969199453
+204,3.400000000,pose1_to_pose2_press,0.616837376217,0.0101818261693,1.05002054516,0.587408522468,0.0188560601345,1.04969224693
+205,3.416666667,pose1_to_pose2_press,0.617107873407,0.0101819617234,1.05002053216,0.587679017492,0.0188561887095,1.04969224021
+206,3.433333333,pose1_to_pose2_press,0.61735821011,0.010181864842,1.05002053406,0.587929356022,0.0188560981342,1.04969224089
+207,3.450000000,pose1_to_pose2_press,0.617583395519,0.0101818747399,1.05002075844,0.588154542422,0.0188561112574,1.04969245633
+208,3.466666667,pose1_to_pose2_press,0.617785720146,0.0101818146953,1.05002063017,0.588356867431,0.0188560528276,1.04969233365
+209,3.483333333,pose1_to_pose2_press,0.6179651393,0.0101818086287,1.05002044571,0.588536285845,0.0188560446352,1.04969215721
+210,3.500000000,pose1_to_pose2_press,0.618127213798,0.0101818530797,1.05002050669,0.588698359612,0.0188560864808,1.04969221199
+211,3.516666667,pose1_to_pose2_press,0.618273457453,0.0101818681057,1.05002068578,0.588844603277,0.0188561011676,1.04969237795
+212,3.533333333,pose1_to_pose2_press,0.618406530296,0.0101818163519,1.05002055666,0.588977676269,0.0188560503469,1.04969225677
+213,3.550000000,pose1_to_pose2_press,0.618527639624,0.0101818180998,1.05002053723,0.589098787388,0.0188560585746,1.04969224432
+214,3.566666667,pose1_to_pose2_press,0.618636257804,0.0101818868346,1.05002052081,0.589207404507,0.0188561238386,1.04969222994
+215,3.583333333,pose1_to_pose2_press,0.618733543482,0.0101818550524,1.05002071982,0.589304690959,0.0188560944259,1.0496924216
+216,3.600000000,pose1_to_pose2_press,0.618819757682,0.0101816947543,1.05002068207,0.589390906153,0.0188559373757,1.04969237811
+217,3.616666667,pose1_to_pose2_press,0.618895272185,0.0101817067697,1.05002067277,0.589466419774,0.018855946774,1.04969237112
+218,3.633333333,pose1_to_pose2_press,0.61896092824,0.0101818157104,1.0500206536,0.589532074457,0.0188560513142,1.04969235787
+219,3.650000000,pose1_to_pose2_press,0.619017121925,0.0101817151057,1.05002044132,0.589588268869,0.0188559529761,1.04969214772
+220,3.666666667,pose1_to_pose2_press,0.619064674207,0.0101816377895,1.05002053627,0.589635822287,0.0188558799401,1.04969224228
+221,3.683333333,pose1_to_pose2_press,0.619103148302,0.0101818367596,1.05002054269,0.589674295497,0.0188560754423,1.04969224638
+222,3.700000000,pose1_to_pose2_press,0.619134472283,0.0101818711365,1.05002040082,0.589705618214,0.0188561059634,1.04969211057
+223,3.716666667,pose1_to_pose2_press,0.619158742991,0.0101818149144,1.05002052974,0.589729890043,0.018856053153,1.04969223327
+224,3.733333333,pose1_to_pose2_press,0.61917698159,0.0101817254882,1.05002035332,0.589748128994,0.0188559650912,1.04969206163
+225,3.750000000,pose1_to_pose2_press,0.619190432283,0.0101816800599,1.05002040301,0.589761580119,0.018855921337,1.04969211288
+226,3.766666667,pose1_to_pose2_press,0.619200127731,0.010181713982,1.05002051939,0.589771275545,0.0188559553071,1.04969222881
+227,3.783333333,pose1_to_pose2_press,0.619207201887,0.0101818280634,1.05002051123,0.589778348788,0.0188560663437,1.04969222142
+228,3.800000000,pose1_to_pose2_press,0.619212242596,0.010181754293,1.05002044294,0.589783388996,0.0188559906646,1.04969214846
+229,3.816666667,pose1_to_pose2_press,0.619215566173,0.0101817710177,1.05002048054,0.589786712229,0.0188560061287,1.04969218512
+230,3.833333333,pose1_to_pose2_press,0.619217495429,0.0101818061818,1.05002053419,0.589788641344,0.0188560407882,1.0496922392
+231,3.850000000,pose1_to_pose2_press,0.619218705815,0.0101817526807,1.05002046479,0.589789853049,0.0188559917594,1.04969217078
+232,3.866666667,pose1_to_pose2_press,0.619219353373,0.0101817240576,1.05002042766,0.589790501312,0.0188559655289,1.04969213417
+233,3.883333333,pose1_to_pose2_press,0.619219432757,0.0101817205487,1.05002042311,0.589790580782,0.0188559623134,1.04969212968
+234,3.900000000,pose1_to_pose2_press,0.619219649668,0.0101817165269,1.05002041297,0.589790797783,0.0188559586092,1.04969211993
+235,3.916666667,pose1_to_pose2_press,0.619219973188,0.0101817288397,1.0500204054,0.58979112096,0.018855969804,1.04969211363
+236,3.933333333,pose1_to_pose2_press,0.619219997363,0.0101817297598,1.05002040484,0.58979114511,0.0188559706406,1.04969211316
+237,3.950000000,pose1_to_pose2_press,0.619220119331,0.0101817344017,1.05002040198,0.589791266948,0.0188559748611,1.04969211079
+238,3.966666667,pose1_to_pose2_press,0.619220164515,0.0101817361214,1.05002040093,0.589791312084,0.0188559764246,1.04969210991
+239,3.983333333,pose1_to_pose2_press,0.619220198834,0.0101817374275,1.05002040012,0.589791346366,0.0188559776121,1.04969210924
+240,4.000000000,pose1_to_pose2_press,0.619220277038,0.0101817404039,1.05002039829,0.589791424487,0.0188559803182,1.04969210772
+241,4.016666667,pose1_to_pose2_press,0.619220423219,0.0101817461935,1.05002039732,0.589791570532,0.0188559856699,1.04969210732
+242,4.033333333,pose1_to_pose2_press,0.619220654927,0.010181763697,1.05002048583,0.589791802748,0.0188560049534,1.04969219652
+243,4.050000000,pose1_to_pose2_press,0.619220714296,0.0101817714632,1.05002050685,0.589791862113,0.0188560127506,1.04969221827
+244,4.066666667,pose1_to_pose2_press,0.61922071472,0.0101817805884,1.05002050242,0.589791862164,0.018856020701,1.04969221539
+245,4.083333333,pose1_to_pose2_press,0.61922071517,0.0101817903008,1.0500204977,0.589791862219,0.0188560291595,1.04969221233
+246,4.100000000,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.589791862221,0.0188560291574,1.04969221233
+247,4.116666667,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.589791862221,0.0188560291571,1.04969221233
+248,4.133333333,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.589791862221,0.0188560291559,1.04969221233
+249,4.150000000,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.589791862221,0.0188560291561,1.04969221233
+250,4.166666667,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.589791862221,0.0188560291564,1.04969221233
+251,4.183333333,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.589791862221,0.0188560291567,1.04969221233
+252,4.200000000,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.58979186222,0.0188560291573,1.04969221233
+253,4.216666667,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.589791862221,0.018856029156,1.04969221233
+254,4.233333333,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.58979186222,0.0188560291574,1.04969221233
+255,4.250000000,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.589791862221,0.0188560291564,1.04969221233
+256,4.266666667,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.58979186222,0.0188560291565,1.04969221233
+257,4.283333333,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.58979186222,0.0188560291566,1.04969221233
+258,4.300000000,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.589791862222,0.0188560291566,1.04969221233
+259,4.316666667,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.589791862221,0.0188560291565,1.04969221233
+260,4.333333333,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.589791862221,0.0188560291564,1.04969221233
+261,4.350000000,pose2_hold,0.61922071517,0.0101817903008,1.0500204977,0.589791862221,0.0188560291566,1.04969221233
+262,4.366666667,pose2_to_pose3_retreat,0.61922071517,0.0101817903008,1.0500204977,0.589791862221,0.0188560291563,1.04969221233
+263,4.383333333,pose2_to_pose3_retreat,0.619220661082,0.0101817998405,1.05002044914,0.58979180886,0.0188560409866,1.04969215939
+264,4.400000000,pose2_to_pose3_retreat,0.61922060041,0.0101818057108,1.05002041695,0.589791748637,0.0188560482569,1.04969212417
+265,4.416666667,pose2_to_pose3_retreat,0.619220522401,0.0101818041796,1.05002041745,0.589791670516,0.0188560463285,1.04969212434
+266,4.433333333,pose2_to_pose3_retreat,0.619220441687,0.0101818025952,1.05002041797,0.589791589686,0.0188560443333,1.0496921245
+267,4.450000000,pose2_to_pose3_retreat,0.619220347478,0.010181800746,1.05002041857,0.589791495342,0.0188560420044,1.0496921247
+268,4.466666667,pose2_to_pose3_retreat,0.619220305588,0.0101817999238,1.05002041884,0.589791453391,0.0188560409689,1.04969212479
+269,4.483333333,pose2_to_pose3_retreat,0.619220145784,0.0101818020267,1.05002043471,0.589791293456,0.0188560425804,1.0496921396
+270,4.500000000,pose2_to_pose3_retreat,0.619219487429,0.0101818172952,1.05002051882,0.58979063468,0.0188560562303,1.04969221891
+271,4.516666667,pose2_to_pose3_retreat,0.619216204319,0.0101818037544,1.05002036937,0.589787352737,0.0188560470283,1.0496920797
+272,4.533333333,pose2_to_pose3_retreat,0.619208210114,0.0101817799122,1.05002021866,0.589779357956,0.0188560213921,1.04969193103
+273,4.550000000,pose2_to_pose3_retreat,0.619192459728,0.0101818186268,1.05002062332,0.589763606113,0.0188560550463,1.04969233198
+274,4.566666667,pose2_to_pose3_retreat,0.619167866714,0.0101818498145,1.05002047858,0.58973901282,0.018856085487,1.04969219152
+275,4.583333333,pose2_to_pose3_retreat,0.619131963432,0.0101818230467,1.05002050463,0.589703110639,0.0188560622864,1.04969221614
+276,4.600000000,pose2_to_pose3_retreat,0.619085941672,0.0101817188419,1.05002052023,0.589657089087,0.0188559585532,1.04969222103
+277,4.616666667,pose2_to_pose3_retreat,0.619029432424,0.0101817064849,1.05002042274,0.589600580447,0.0188559483314,1.04969212736
+278,4.633333333,pose2_to_pose3_retreat,0.61896474782,0.0101817591611,1.0500205064,0.589535895524,0.0188560003477,1.04969221354
+279,4.650000000,pose2_to_pose3_retreat,0.618892602108,0.0101817499111,1.0500204305,0.589463749268,0.0188559894883,1.0496921426
+280,4.666666667,pose2_to_pose3_retreat,0.618810512321,0.0101817906702,1.0500204941,0.589381657393,0.0188560230895,1.04969219949
+281,4.683333333,pose2_to_pose3_retreat,0.618718225808,0.0101817911339,1.05002053281,0.589289372315,0.0188560278932,1.0496922378
+282,4.700000000,pose2_to_pose3_retreat,0.618614060026,0.0101818434667,1.05002041166,0.589185207329,0.0188560825617,1.04969212464
+283,4.716666667,pose2_to_pose3_retreat,0.618496997776,0.0101819343511,1.05002030133,0.58906814279,0.0188561657674,1.04969201951
+284,4.733333333,pose2_to_pose3_retreat,0.618366285451,0.0101817709788,1.05002051845,0.588937432903,0.0188560104395,1.04969223426
+285,4.750000000,pose2_to_pose3_retreat,0.618223354328,0.0101816892064,1.05002075562,0.588794501664,0.0188559279196,1.04969246266
+286,4.766666667,pose2_to_pose3_retreat,0.618067975679,0.0101818453414,1.05002048569,0.588639121912,0.0188560802975,1.04969219571
+287,4.783333333,pose2_to_pose3_retreat,0.617897529082,0.0101818178546,1.05002041764,0.588468676527,0.0188560565615,1.04969212271
+288,4.800000000,pose2_to_pose3_retreat,0.617710521404,0.0101817695502,1.05002047263,0.588281669481,0.0188560101945,1.04969217558
+289,4.816666667,pose2_to_pose3_retreat,0.617503882318,0.0101818314259,1.05002053531,0.588075028977,0.0188560672397,1.04969223993
+290,4.833333333,pose2_to_pose3_retreat,0.617276531425,0.0101819600898,1.05002057026,0.587847676276,0.0188561893985,1.04969226855
+291,4.850000000,pose2_to_pose3_retreat,0.61702837163,0.0101819100144,1.05002056619,0.58759951708,0.0188561412001,1.04969226621
+292,4.866666667,pose2_to_pose3_retreat,0.616760287017,0.0101817589524,1.05002022525,0.587331434592,0.0188559975785,1.04969193395
+293,4.883333333,pose2_to_pose3_retreat,0.616472858223,0.0101817633247,1.05002040755,0.587044005831,0.0188560018945,1.04969211569
+294,4.900000000,pose2_to_pose3_retreat,0.616162522508,0.0101818816792,1.05002054141,0.586733669218,0.0188561169251,1.04969224738
+295,4.916666667,pose2_to_pose3_retreat,0.615830841385,0.0101818808211,1.05002059248,0.586401988139,0.0188561159854,1.04969229756
+296,4.933333333,pose2_to_pose3_retreat,0.615477123316,0.0101817792019,1.05002055111,0.586048270824,0.0188560167559,1.04969225682
+297,4.950000000,pose2_to_pose3_retreat,0.615106141156,0.0101818305118,1.05002028939,0.585677288238,0.0188560665122,1.04969199712
+298,4.966666667,pose2_to_pose3_retreat,0.614720724323,0.0101818285513,1.05002028892,0.585291870963,0.0188560629955,1.04969199735
+299,4.983333333,pose2_to_pose3_retreat,0.61432493378,0.0101818072644,1.0500203972,0.584896080839,0.0188560428156,1.04969210287
+300,5.000000000,pose2_to_pose3_retreat,0.61391662328,0.0101818283659,1.05002049275,0.584487769902,0.018856062343,1.0496921984
+301,5.016666667,pose2_to_pose3_retreat,0.613489815316,0.0101818756528,1.05002053946,0.584060962652,0.0188561120164,1.04969224488
+302,5.033333333,pose2_to_pose3_retreat,0.613034292545,0.0101818432529,1.05002053282,0.583605441062,0.0188560836961,1.04969224016
+303,5.050000000,pose2_to_pose3_retreat,0.612545295017,0.0101817041387,1.05002055503,0.58311644354,0.0188559446964,1.04969226484
+304,5.066666667,pose2_to_pose3_retreat,0.612034893509,0.0101817981406,1.05002081716,0.582606041433,0.0188560360885,1.04969251164
+305,5.083333333,pose2_to_pose3_retreat,0.611508459872,0.0101817706907,1.05002073081,0.582079607946,0.0188560090115,1.04969242182
+306,5.100000000,pose2_to_pose3_retreat,0.610972138826,0.0101819167006,1.05002065499,0.581543285166,0.0188561497858,1.04969236264
+307,5.116666667,pose2_to_pose3_retreat,0.610428830074,0.010181974012,1.05002056365,0.58099997566,0.0188562047082,1.04969227541
+308,5.133333333,pose2_to_pose3_retreat,0.609875996574,0.0101819116184,1.05002042737,0.58044714314,0.0188561455585,1.0496921367
+309,5.150000000,pose2_to_pose3_retreat,0.609298887524,0.0101817720302,1.05002032223,0.579870035791,0.0188560116458,1.04969202898
+310,5.166666667,pose2_to_pose3_retreat,0.608695239824,0.0101816549397,1.05002043323,0.579266388234,0.0188558949105,1.04969213661
+311,5.183333333,pose2_to_pose3_retreat,0.60807046795,0.0101817444892,1.05002065897,0.578641617697,0.0188559888529,1.04969235847
+312,5.200000000,pose2_to_pose3_retreat,0.607427470564,0.0101817627457,1.05002061139,0.577998617613,0.0188559977058,1.04969230424
+313,5.216666667,pose2_to_pose3_retreat,0.606765143286,0.0101818127358,1.05002044469,0.577336290362,0.0188560483959,1.04969215354
+314,5.233333333,pose2_to_pose3_retreat,0.606086264302,0.0101818787163,1.05002037593,0.576657411091,0.0188561136802,1.04969209214
+315,5.250000000,pose2_to_pose3_retreat,0.605390035722,0.0101818572651,1.05002044221,0.575961182784,0.0188560930289,1.04969215495
+316,5.266666667,pose2_to_pose3_retreat,0.604680308209,0.0101817734382,1.05002050028,0.575251456539,0.0188560133474,1.04969220885
+317,5.283333333,pose2_to_pose3_retreat,0.603961804637,0.0101817708552,1.05002040557,0.574532952949,0.0188560105735,1.04969211063
+318,5.300000000,pose2_to_pose3_retreat,0.603238660208,0.0101816963879,1.05002028327,0.573809809863,0.018855940883,1.04969199417
+319,5.316666667,pose2_to_pose3_retreat,0.602515961737,0.0101820136853,1.0500203842,0.573087106829,0.0188562426798,1.04969209453
+320,5.333333333,pose2_to_pose3_retreat,0.601798275771,0.0101817265995,1.05002055304,0.572369424138,0.018855966846,1.04969226694
+321,5.350000000,pose2_to_pose3_retreat,0.601074320011,0.0101816687202,1.05002050277,0.571645469308,0.0188559119817,1.04969221292
+322,5.366666667,pose2_to_pose3_retreat,0.600342019545,0.0101816582471,1.0500204069,0.570913168356,0.0188558997764,1.04969211482
+323,5.383333333,pose2_to_pose3_retreat,0.599592426954,0.0101816095625,1.05002050277,0.570163575946,0.0188558517084,1.04969221072
+324,5.400000000,pose2_to_pose3_retreat,0.598828077413,0.0101817281061,1.05002078641,0.569399226812,0.0188559713348,1.04969248646
+325,5.416666667,pose2_to_pose3_retreat,0.598059850987,0.0101816995988,1.05002070811,0.568630999332,0.0188559390139,1.04969240177
+326,5.433333333,pose2_to_pose3_retreat,0.597292630159,0.0101818953673,1.05002081031,0.567863776358,0.018856127521,1.0496925044
+327,5.450000000,pose2_to_pose3_retreat,0.596528539507,0.0101817370362,1.05002068881,0.567099686997,0.018855973964,1.04969239336
+328,5.466666667,pose2_to_pose3_retreat,0.595781443903,0.0101817368244,1.05002075215,0.566352591664,0.0188559745337,1.0496924529
+329,5.483333333,pose2_to_pose3_retreat,0.595047669273,0.0101818785396,1.05002067455,0.565618815996,0.018856112817,1.04969237764
+330,5.500000000,pose2_to_pose3_retreat,0.594316303101,0.0101819187124,1.0500205319,0.564887449405,0.0188561516724,1.04969223775
+331,5.516666667,pose2_to_pose3_retreat,0.593581219983,0.0101817360076,1.05002055314,0.564152367782,0.0188559737177,1.04969225044
+332,5.533333333,pose2_to_pose3_retreat,0.592832078182,0.0101818150643,1.05002039842,0.563403226037,0.0188560535172,1.0496921102
+333,5.550000000,pose2_to_pose3_retreat,0.59208519086,0.0101816957126,1.05002055179,0.562656341016,0.0188559414435,1.04969224967
+334,5.566666667,pose2_to_pose3_retreat,0.591349276658,0.0101816289036,1.05002055873,0.561920426404,0.0188558733564,1.04969225956
+335,5.583333333,pose2_to_pose3_retreat,0.590624006074,0.0101817343135,1.05002037241,0.561195155146,0.0188559767863,1.04969208131
+336,5.600000000,pose2_to_pose3_retreat,0.589916140454,0.010181804573,1.050020425,0.560487288967,0.0188560450933,1.0496921323
+337,5.616666667,pose2_to_pose3_retreat,0.589238899986,0.0101818219729,1.05002050655,0.559810048148,0.0188560611489,1.04969220979
+338,5.633333333,pose2_to_pose3_retreat,0.588578545691,0.0101817854014,1.05002042169,0.559149694216,0.0188560258718,1.04969212657
+339,5.650000000,pose2_to_pose3_retreat,0.587928745655,0.0101815908267,1.05002041932,0.558499896019,0.0188558376411,1.04969212694
+340,5.666666667,pose2_to_pose3_retreat,0.587288080269,0.0101816858994,1.05002065903,0.557859229325,0.0188559278724,1.04969235604
+341,5.683333333,pose2_to_pose3_retreat,0.586655462838,0.0101817119411,1.05002047511,0.557226610821,0.0188559506588,1.04969218222
+342,5.700000000,pose2_to_pose3_retreat,0.586023058096,0.0101817305148,1.05002054832,0.5565942063,0.0188559700827,1.04969225811
+343,5.716666667,pose2_to_pose3_retreat,0.585395817837,0.0101817248261,1.05002059117,0.555966966135,0.0188559646136,1.04969229822
+344,5.733333333,pose2_to_pose3_retreat,0.584787407088,0.0101817323468,1.05002047265,0.555358555326,0.0188559720175,1.04969218201
+345,5.750000000,pose2_to_pose3_retreat,0.584203967985,0.010181766667,1.05002044813,0.554775116548,0.0188560075465,1.04969216023
+346,5.766666667,pose2_to_pose3_retreat,0.583649981846,0.0101817638813,1.05002064709,0.554221130381,0.0188560042721,1.04969234881
+347,5.783333333,pose2_to_pose3_retreat,0.583130725067,0.010181757483,1.05002042904,0.553701872784,0.0188559952339,1.04969213442
+348,5.800000000,pose2_to_pose3_retreat,0.58263919218,0.0101817850524,1.05002048288,0.553210339572,0.0188560219175,1.04969219388
+349,5.816666667,pose2_to_pose3_retreat,0.582158793533,0.0101818307706,1.05002052779,0.552729941127,0.0188560682419,1.04969223678
+350,5.833333333,pose2_to_pose3_retreat,0.581687957829,0.0101818571234,1.05002042901,0.552259104836,0.018856092582,1.04969213738
+351,5.850000000,pose2_to_pose3_retreat,0.581228772376,0.0101817960483,1.05002038888,0.551799919118,0.018856030656,1.04969209858
+352,5.866666667,pose2_to_pose3_retreat,0.580786407969,0.0101816617206,1.05002066854,0.551357556364,0.0188559017628,1.04969237354
+353,5.883333333,pose2_to_pose3_retreat,0.580363673674,0.0101817367896,1.05002082157,0.550934821875,0.0188559757048,1.04969251428
+354,5.900000000,pose2_to_pose3_retreat,0.579966270379,0.0101819147703,1.05002067842,0.550537418211,0.0188561529108,1.04969238424
+355,5.916666667,pose2_to_pose3_retreat,0.579589712133,0.0101817538793,1.05002056994,0.550160860137,0.0188559926155,1.0496922763
+356,5.933333333,pose2_to_pose3_retreat,0.579227844332,0.0101818023081,1.05002063806,0.549798991809,0.0188560390055,1.04969233763
+357,5.950000000,pose2_to_pose3_retreat,0.578880564313,0.0101818388831,1.05002060527,0.549451711623,0.0188560751531,1.04969230836
+358,5.966666667,pose2_to_pose3_retreat,0.578550823536,0.010181814398,1.0500205184,0.549121970077,0.0188560482732,1.04969222715
+359,5.983333333,pose2_to_pose3_retreat,0.57824486737,0.0101818245916,1.05002054402,0.548816013102,0.0188560555382,1.04969224778
+360,6.000000000,pose2_to_pose3_retreat,0.577965819336,0.0101818044766,1.05002055467,0.548536966876,0.018856041425,1.04969225497
+361,6.016666667,pose2_to_pose3_retreat,0.577717521249,0.0101818728828,1.05002054616,0.548288667465,0.0188561054823,1.04969225024
+362,6.033333333,pose2_to_pose3_retreat,0.577494901783,0.0101817662242,1.05002042175,0.54806605031,0.0188560069169,1.04969213249
+363,6.050000000,pose2_to_pose3_retreat,0.577293669689,0.0101817459433,1.05002047053,0.547864817865,0.0188559853609,1.04969217916
+364,6.066666667,pose2_to_pose3_retreat,0.577104508419,0.0101817941504,1.05002053574,0.547675655672,0.0188560303265,1.04969224153
+365,6.083333333,pose2_to_pose3_retreat,0.576924973927,0.0101818583111,1.05002051225,0.547496120944,0.0188560937248,1.04969221915
+366,6.100000000,pose2_to_pose3_retreat,0.576756740821,0.0101818224371,1.05002039427,0.547327887982,0.0188560584722,1.0496921046
+367,6.116666667,pose2_to_pose3_retreat,0.576600640627,0.010181671468,1.05002048402,0.547171789865,0.0188559146226,1.04969219633
+368,6.133333333,pose2_to_pose3_retreat,0.576459493787,0.0101817675028,1.05002040694,0.547030641351,0.0188560050674,1.04969212158
+369,6.150000000,pose2_to_pose3_retreat,0.576333188461,0.010181721064,1.05002029595,0.546904335897,0.0188559582477,1.04969201211
+370,6.166666667,pose2_to_pose3_retreat,0.576222972143,0.0101816596023,1.05002034364,0.546794120679,0.0188559001918,1.04969205123
+371,6.183333333,pose2_to_pose3_retreat,0.576126470007,0.010181635202,1.05002048199,0.546697619778,0.0188558796397,1.04969218076
+372,6.200000000,pose2_to_pose3_retreat,0.576043145311,0.0101816252531,1.0500205704,0.546614295376,0.0188558707709,1.04969227176
+373,6.216666667,pose2_to_pose3_retreat,0.575970861117,0.0101816980897,1.05002065073,0.546542008859,0.0188559359173,1.04969235704
+374,6.233333333,pose2_to_pose3_retreat,0.575908548789,0.0101817001338,1.0500206896,0.546479696168,0.018855936391,1.04969238687
+375,6.250000000,pose2_to_pose3_retreat,0.575855329761,0.0101817488162,1.0500207805,0.546426477632,0.0188559867338,1.0496924775
+376,6.266666667,pose2_to_pose3_retreat,0.575809671359,0.0101817225342,1.05002072473,0.546380819162,0.0188559603484,1.04969242509
+377,6.283333333,pose2_to_pose3_retreat,0.575771653138,0.0101817158075,1.05002050604,0.546342801244,0.0188559550641,1.04969221738
+378,6.300000000,pose2_to_pose3_retreat,0.575741224065,0.0101817331686,1.05002039761,0.546312371214,0.018855969146,1.04969210801
+379,6.316666667,pose2_to_pose3_retreat,0.575718212313,0.0101817147526,1.05002049097,0.546289358692,0.0188559476186,1.04969218813
+380,6.333333333,pose2_to_pose3_retreat,0.575701718295,0.0101816931242,1.05002059358,0.546272866725,0.018855932851,1.04969228824
+381,6.350000000,pose2_to_pose3_retreat,0.575690424043,0.010181746294,1.05002067494,0.546261573146,0.0188559884471,1.0496923734
+382,6.366666667,pose2_to_pose3_retreat,0.575683381739,0.0101816832396,1.05002055299,0.546254530743,0.018855924985,1.04969224955
+383,6.383333333,pose2_to_pose3_retreat,0.575678225987,0.0101816403415,1.05002045396,0.546249374854,0.0188558816267,1.04969215066
+384,6.400000000,pose2_to_pose3_retreat,0.575674389095,0.010181662738,1.05002043274,0.546245537915,0.0188559041112,1.04969213601
+385,6.416666667,pose2_to_pose3_retreat,0.575671848688,0.010181691136,1.05002045951,0.546242997377,0.0188559321494,1.04969216496
+386,6.433333333,pose2_to_pose3_retreat,0.575670283905,0.0101817203534,1.05002051127,0.546241432428,0.018855960784,1.04969221618
+387,6.450000000,pose2_to_pose3_retreat,0.575669091833,0.0101817298735,1.05002053939,0.546240240259,0.018855969992,1.04969224473
+388,6.466666667,pose2_to_pose3_retreat,0.575668370733,0.0101817047817,1.050020529,0.546239519172,0.0188559450307,1.04969223667
+389,6.483333333,pose2_to_pose3_retreat,0.575667972304,0.0101816909177,1.05002052325,0.546239120751,0.0188559312389,1.04969223221
+390,6.500000000,pose2_to_pose3_retreat,0.575667733207,0.010181682598,1.05002051981,0.546238881659,0.0188559229624,1.04969222953
+391,6.516666667,pose2_to_pose3_retreat,0.575667709195,0.0101816817624,1.05002051946,0.546238857648,0.0188559221313,1.04969222926
+392,6.533333333,pose2_to_pose3_retreat,0.575667704727,0.010181681607,1.0500205194,0.54623885318,0.0188559219766,1.04969222921
+393,6.550000000,pose2_to_pose3_retreat,0.575667655753,0.010181681287,1.05002052898,0.546238804245,0.0188559217563,1.04969223789
+394,6.566666667,pose2_to_pose3_retreat,0.575667489807,0.0101816821516,1.05002057591,0.546238638487,0.0188559230861,1.04969228025
+395,6.583333333,pose2_to_pose3_retreat,0.575667415702,0.0101816825377,1.05002059688,0.546238564466,0.0188559236799,1.04969229917
+396,6.600000000,pose2_to_pose3_retreat,0.57566735188,0.0101816828702,1.05002061493,0.546238500716,0.0188559241913,1.04969231546
+397,6.616666667,pose2_to_pose3_retreat,0.575667338435,0.0101816829402,1.05002061873,0.546238487287,0.0188559242991,1.0496923189
+398,6.633333333,pose2_to_pose3_retreat,0.575667327112,0.0101816829992,1.05002062193,0.546238475976,0.0188559243898,1.04969232179
+399,6.650000000,pose2_to_pose3_retreat,0.575667223858,0.0101816835372,1.05002065114,0.54623837284,0.0188559252172,1.04969234815
+400,6.666666667,pose2_to_pose3_retreat,0.57566711849,0.0101816840861,1.05002068094,0.546238267591,0.0188559260616,1.04969237505
+401,6.683333333,pose2_to_pose3_retreat,0.57566710171,0.0101816841736,1.05002068569,0.54623825083,0.018855926196,1.04969237933
+402,6.700000000,pose2_to_pose3_retreat,0.575667054414,0.01018168442,1.05002069907,0.546238203588,0.018855926575,1.04969239141
+403,6.716666667,pose2_to_pose3_retreat,0.575667030857,0.0101816845427,1.05002070573,0.546238180057,0.0188559267638,1.04969239742
+404,6.733333333,pose2_to_pose3_retreat,0.57566696849,0.010181699975,1.05002070813,0.54623811764,0.0188559419989,1.04969239913
+405,6.750000000,pose2_to_pose3_retreat,0.57566693746,0.0101817637145,1.05002065275,0.546238086136,0.0188560042596,1.04969234724
+406,6.766666667,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039

Obstacle_avoidance/cylinder_15A_10/position_09/depth_02/fem_node.csv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc0c22fa0745dbf6fc410ac1908824f5d30d133f440ee77d9f9495872f3dee53
+size 25900324